JP6811848B2 - User console system for robotic surgery - Google Patents

Description

(Cross-reference to related applications)
This application claims priority to US Patent Application No. 62 / 397,823, filed September 21, 2016, which is incorporated herein by reference in its entirety.

The present invention typically relates to the field of robotic surgery and, more specifically, to user console systems.

Computer-aided robotic surgery systems allow healthcare professionals to achieve greater accuracy, automation, and / or less invasive procedures while performing a variety of diagnostic and / or therapeutic procedures. Such techniques are widely applicable in a variety of medical fields, from ophthalmology and anesthesiology to orthopedic and radiodiagnostic interventions. Some computer-based systems provide image-guided navigation to increase the accuracy of invasive procedures, while other systems are invasive, which can reduce scarring and shorten recovery time. It incorporates sophisticated robots and visualization techniques to perform minimally sexual surgery. An example of minimally invasive surgery is laparoscopic surgery, which typically involves making many small incisions in the patient (eg, in the abdomen) and using one or more tools and at least one camera. Includes introduction through the patient's incision. The surgical procedure is then performed using the introduced tool, assisted by the visualization provided by the camera. In robotic or robotic surgery, at least some of the introduced devices may be connected to one or more robot arms operated remotely (eg, by teleoperation) by a user (eg, a surgeon). .. Therefore, it is desirable to have a user console system that allows the user to control the introduced tools and / or cameras used in robotic surgery via the user console system.

Typically, a user console for controlling a remote robotic surgical instrument has an adjustable ergonomic seat assembly with a seat pan, a display configured to receive real-time surgical information, and the robotic instrument remotely. It may be provided with one or more control devices for control. The display may include, for example, an open display (eg, a monitor mounted in an upright position) and / or an immersive display. The display or one or more controls may have multiple positions and may automatically reposition according to a seating profile associated with at least one user. For example, the display or one or more control devices may be automatically positioned according to any of the plurality of seating profiles associated with the plurality of users. In some variants, the display and / or one or more controllers may, in addition to, or instead, automatically reposition according to the type of surgical procedure and / or their position. May be manually adjustable.

In some variants, the user console may have multiple arrangements (eg, sitting arrangement, ascending arrangement and reclining arrangement). The displays, seat assemblies (eg, seat pans, seat backs, headrests connected to the seat backs) and / or one or more controls of various aspects may be in different positions for different arrangements. For example, the display or one or more controls may be in a higher position when the seat assembly is in the elevated position than when the seat assembly is in the seated position. As another example, the seat pan may have a higher forward tilted position in an elevated position than in a seated position. The seat back may have multiple angular positions with respect to the seat pan, and in some variants the seat assembly is in the elevated position rather than in the seated position. The rear edge of the pan may be behind the lower edge of the seat back.

One or more control devices for remotely controlling a robotic instrument may include, for example, a hand-held and operable user interface device. In some variants, the user console may include a docking station configured to detachably hold a hand-held and operable user interface. As another example, one or more controls for remotely controlling a robotic appliance may include a foot operated controller, such as a foot pedal assembly. In some variants, the foot pedal assembly may be configured to tilt rearward and adjustable.

In some variants, the user console may include a pedestal, and the foot pedal assembly and seat assembly may be attached to the pedestal and adjusted with respect to the pedestal. For example, the foot pedal assembly and / or seat assembly may be configured to translate along the pedestal.

The user console may include one or more armrests connected to the seat assembly in some variants. The armrests have multiple positions and may be automatically repositioned according to the seating profile associated with at least one user. For example, the armrests may be higher relative to the seat pan when the seat assembly is in the raised position than when the seat assembly is in the seated position.

The control panel may be provided on or near one or more armrests, or at any suitable position on or near the user console. The operation panel may receive user information. User information from the control panel or another suitable interface may be used, for example, to identify a user in the user console and obtain user console settings from the seating profile associated with that user. As another example, the user may enter the user's features (eg, anthropometric data) through the controls (or other suitable interface) so that the user's seating profile is entered into the anthropometry. It may be created automatically based on the data, at least in part.

In some variants, the user console may include a console controller configured to detect the presence or absence of the user in the user console. For example, the console controller may detect the presence or absence of the user based on an eye tracking algorithm and / or at least one sensor (eg, a pressure sensor) in the user console. Information related to the presence or absence of a user in the user console may use a safety interlock in some variants, so that one or more controllers detect the absence of the user. In response to the console controller, it becomes inoperable.

An example of the arrangement of an operating room equipped with a robotic surgery system having an integrated seat is shown. An example of the arrangement of an operating room equipped with a robotic surgery system without an integrated seat is shown. FIG. 3 is a front view of an exemplary user console with an immersive display and an open display. FIG. 3 is a rear view of an exemplary user console with an immersive display and an open display. FIG. 5 is a side orthogonal view of an exemplary user console with an immersive display and an open display. FIG. 5 is a side orthogonal view of another exemplary surgical console with an immersive display. It is a side orthogonal view of the user console of FIGS. 2A to 2C in a seated arrangement. It is a side orthogonal view of the user console of FIGS. 2A to 2C in the ascending arrangement. It is a side orthogonal view of the user console of FIGS. 2A to 2F in a tilted arrangement or a retracted arrangement. It is a front perspective view of an exemplary user console. It is a rear perspective view of an exemplary user console. FIG. 6 is a schematic diagram of adjustable settings or parameters of an exemplary user console. FIG. 5 is a schematic diagram showing adjustable points for a seating arrangement for a seat assembly in an exemplary user console. FIG. 5 is a schematic diagram showing adjustable points for a reclining arrangement for a seat assembly in an exemplary user console. FIG. 5 is a schematic diagram showing adjustable points for ascending placement for a seat assembly in an exemplary user console. It is a schematic side orthogonal view of a seating arrangement. It is a schematic side orthogonal view of a reclining arrangement. It is a schematic side orthogonal view of the workstation arrangement of an ascending arrangement. It is a schematic side orthogonal view of the ascending arrangement of workstations. FIG. 6 is a schematic side orthogonal view of a reclining arrangement of workstations. It is a schematic top-view orthogonal view of the reclining arrangement of the workstation. FIG. 5 is a front orthogonal view of an exemplary seating surface with armrests in an expanded arrangement. FIG. 3 is a top perspective view of an exemplary seating surface with armrests in an expanded arrangement. It is a front perspective view of an exemplary user console in a seated arrangement. It is a rear perspective view of an exemplary user console in a seated arrangement. FIG. 5 is a rear orthogonal view of an exemplary user console in a seated arrangement. It is a side orthogonal view of an exemplary user console in a seated arrangement. It is a front view of an exemplary user console in a seated arrangement. FIG. 6 is a front perspective view of an exemplary user console in a reclining arrangement. FIG. 3 is a rear perspective view of an exemplary user console in a reclining arrangement. FIG. 6 is a rear orthogonal view of an exemplary user console in a reclining arrangement. FIG. 6 is a side orthogonal view of an exemplary user console in a reclining arrangement. It is a front view of an exemplary user console in a reclining arrangement. FIG. 3 is a front perspective view of an exemplary user console in an elevated arrangement. FIG. 3 is a rear perspective view of an exemplary user console in an elevated arrangement. FIG. 5 is a rear orthogonal view of an exemplary user console in an ascending arrangement. FIG. 5 is a side orthogonal view of an exemplary user console in an ascending arrangement. It is a front view of an exemplary user console in an elevated arrangement. FIG. 3 is a rear perspective view of a seat assembly with an exemplary armrest assembly in an expanded arrangement. FIG. 6 is a perspective view of an exemplary armrest assembly in a folded arrangement. FIG. 3 is a perspective view of an exemplary armrest assembly in an unfolded arrangement. It is a detailed partial view of an exemplary armrest assembly. It is a detailed view of the joint in an exemplary armrest assembly. It is a top view of another exemplary armrest assembly including a sliding pin joint. FIG. 13A is a top view of various arrangements of the armrest assembly of FIG. 13A. FIG. 13A is a top view of various arrangements of the armrest assembly of FIG. 13A. FIG. 13A is a top view of various arrangements of the armrest assembly of FIG. 13A. FIG. 3 is a perspective view of a folded arrangement of an exemplary armrest in a user console. FIG. 6 is a perspective view of an expanded arrangement of exemplary armrests in a user console. FIG. 14A is a side perspective view of the folded arrangement shown in FIG. 14A. It is a top view of the expanded arrangement shown in FIG. 14B. It is a perspective view of a recessed arrangement for an exemplary user interface platform with controls for surgical instruments. FIG. 6 is a perspective view of an extended arrangement for an exemplary user interface platform with controls for surgical instruments. It is a detailed diagram of the relationship between a control device and an exemplary user interface platform. It is a detailed diagram of the relationship between a control device and an exemplary user interface platform. It is a perspective view of an exemplary user console. FIG. 15A is a detailed view of a user interface platform and control device in an exemplary user console shown in FIG. 15A. FIG. 15A is a detailed view of a pedal assembly in an exemplary user console shown in FIG. 15A. The rear view of the modified form of the user console is shown. The rear view of the modified form of the user console is shown. The rear view of the modified form of the user console is shown. The rear view of the modified form of the user console is shown. The rear view of the modified form of the user console is shown. The front view of the modified form of the user console is shown. The front view of the modified form of the user console is shown. The front view of the modified form of the user console is shown. The front view of the modified form of the user console is shown. The front view of the modified form of the user console is shown. An exemplary immersive display in an exemplary user console is shown. The articulated support arm for the immersive display shown in FIG. 19A is shown. The articulated support arm for the immersive display shown in FIG. 19A is shown. Another exemplary support arm for an immersive display is shown. Another exemplary support arm for an immersive display is shown. Another exemplary support arm for an immersive display is shown. FIG. 3 is a front perspective view of an exemplary user console with a pedestal having a front wall. FIG. 3 is a rear perspective view of an exemplary user console with a pedestal having a front wall. FIG. 3 is a front perspective view of an exemplary user console with a pedestal having a wall that wraps around the sides. FIG. 6 is a rear perspective view of an exemplary user console with a pedestal having a wall that wraps around the sides. FIG. 6 is a front perspective view of an exemplary user console with a rear wall and a pedestal with overhead. FIG. 6 is a rear perspective view of an exemplary user console with a rear wall and a pedestal with overhead. FIG. 3 is a front perspective view of an exemplary user console with a pedestal having a front wall with side wings. FIG. 3 is a rear perspective view of an exemplary user console with a pedestal having a front wall with side wings. FIG. 3 is a front perspective view of an exemplary user console with a display indicator and a wheel over the seat assembly. FIG. 3 is a front perspective view of an exemplary user console with a display indicator and a wheel over the seat assembly. FIG. 6 is a side orthogonal view of an exemplary user console with wheels on a seat assembly. FIG. 6 is a side orthogonal view of an exemplary user console with wheels on a seat assembly. FIG. 3 is a top view of an exemplary user console with a side-entry, pivotal seat assembly. FIG. 6 is a top view of an exemplary user console shown in FIG. 26A, in which the user is involved in the user console of FIG. 26A. FIG. 6 is a top view of an exemplary user console shown in FIG. 26A, in which an immersive display is arranged and the user is involved. FIG. 6 is a front perspective view of an exemplary user console with a curved pedestal with wheels. It is a detailed view of the wheel on the curved pedestal shown in FIG. 27A. It is a schematic diagram which shows the relative movement of a display and a seat assembly with respect to the curved pedestal shown in FIG. 27A. An exemplary variant of the user console pedestal in an extended arrangement is shown. An exemplary variant of the user console pedestal in an extended arrangement is shown and is a detailed view of the wheels on the pedestal. An exemplary modification of the user console pedestal in a recessed or tilted arrangement is shown. It is a detailed view of the wheel on the pedestal, showing an exemplary modification of the pedestal of the user console in a recessed or tilted arrangement.

Non-limiting examples of various aspects and variations of the present invention are described herein and are shown in the accompanying drawings.

Overview of Robotic Surgical System Typically, as shown in FIG. 1A, the user console 100 may be part of a robotic surgical system for interlocking with the robotic system 112. The robot system 112 may include one or more robot arms 114 placed on a surgical platform (eg, pedestal, bed, etc.) so that the end effector or surgical tool can perform the surgical procedure on the robot arm 114. It is connected to the distal end of. A user (eg, a surgeon or other operator) may use the user console 100 to remotely control the robot arm 114 and / or the end effector (eg, teleoperation). The user console 100 may be located in the same operating room as the robot system 112, as shown in FIG. 1A. In other embodiments, the user console 100 may be located in an adjacent room or a nearby room, or may be teleoperated from a distance in a different building, city or country. Communication between the user console 100 and the robot system 112 may be wireless and / or wired, may be proprietary using any of the various data communication protocols, and / or may be performed.

In one example, the user console 100 is configured to display an adjustable ergonomic seat 102, a pedal assembly 104, one or more user interface devices 106, and an image of a surgical site within the patient 108. And have. A user who is on the seat surface 102 and looking at the user display 108 may operate the pedal assembly 104 and / or the user interface device 106 to remotely control the robot arm 114 and / or the end effector. At least one armrest 116 is provided and may be supported by the display mount 118 as shown in FIG. 1A and / or as shown in other variants herein on the seat surface 102. It may be connected. The one or more second displays 120 may display, for example, the same content as the user display 108, but the anesthesia provider 122 and / or other staff members 124, 126 monitor and assist the surgical procedure. However, it may be given so that it can react to some problem or the like. The monitor 128 capable of displaying vital signs can be switched to the same screen as given on the second display 120 and / or to include picture-in-picture of the video feed. ..

The user console 100 also uses the pedal assembly 104 and / or the user interface device 106, including adjusting or arranging, for example, the seat surface 102, the pedal assembly 104, the user interface device 106 and / or the user display 108. Alternatively, other aspects of the robot system 112 may be controlled. One or more other inputs to facilitate voice recognition and / or operation of the user console 100 or robot system 112, communication with other staff, eye tracking, and / or to provide access control or data security. Output device 130 (eg, video sensor, speaker, keyboard and / or microphone) may be provided. In some other examples, the user console 100 does not include an integrated user display 108, but includes a display in the operating room and / or a remote display accessible via the Internet or other networks. Provides a video output that can be connected to the above general-purpose display.

As further described below with reference to further examples, the seat assembly may include one or more adjustable features, one or more adjustable features, including but not limited to rotation of the seat. Includes seat height, seat tilt, seat back tilt, headrest height, and headrest tilt. Armrests may be configured with adjustable armrest height, anterior / posterior position, and / or medial / lateral rotation, and each armrest if separate left / right armrests are provided. May be arranged independently. The armrest of FIG. 1A is connected to the display mounting portion 118, but in other examples it may be connected to the seat assembly. Adjustable seat features may be manually adjustable by the user and / or monitored, and may be controlled by a computer, the arrangement or profile of which is determined by the seat control device. It is configured to be saved and recalled, or some combination of both. Access to the seat control device may be provided by the user display 108.

During an exemplary procedure or surgery, the patient is prepared in sterile condition, clothed and anesthetized. Initial access to the surgical site may be made manually using a robotic system 112 in a packed or confined position to facilitate access to the surgical site. Upon completion of access, initial positioning and / or preparation of the robot system may be performed. During the surgical procedure, the surgeon or other user in the user console 100 may utilize the pedal assembly 104 and / or the user interface device 106 to operate various tools and / or imaging systems to perform the procedure. .. Manual assistance may be provided by personnel 124 in sterile gowns on the treatment table, with personnel 124 in sterile gowns retracting organs or manually repositioning, without limitation. Alternatively, operations may include replacement of tools including one or more robot arms 114. Also, non-sterile staff 126 may be present to assist the surgeon 110 at the user console 100. Upon completion of the procedure or surgery, the robot system 112 and / or the user console 100 is, but is not limited to, cleaning and / or sterilizing the robot system 112 and / or inputting or outputting a health care record, for example, via the user console 100. It may be configured or set to facilitate one or more post-surgical procedures, including (either electronic copy or hard copy).

In FIG. 1A, the robot arm 114 is shown with a platform-mounted system, but in other embodiments, the robot arm may be mounted on a cart, ceiling, or side wall. Communication between the robot system 112, the user console 100 and the other displays 120, 128 may be via wireless and / or wired connections. Any wired connection may be optionally constructed on the floor and / or wall or ceiling. In yet another variant, the user console 100 does not include an integrated user display 108, but can be connected to one or more general purpose displays, including remote displays accessible via the Internet or other networks. Give video output. The video output or video feed may be encrypted to ensure privacy, and all or part of the video output may be stored on a server or electronic health care recording system.

In the example shown in FIG. 1A, the user console 100 utilizes a chair or seat assembly 102, which has a pedestal 132 separate from the pedal assembly 104 or the display mount 118. .. In another example (eg, the user console 150 shown in FIG. 1B), the seat assembly 152 may be integrated on a common pedestal 154 with the pedal assembly 156 and display mount 158, armrests 160 and display 162. , Or may be in a state of communicating with these components in other ways. Communication may be wired and / or wireless. Other variants of the user console 100 are described in more detail below.

In another example, an additional user console 100 may be provided to control additional surgical instruments and / or control one or more tools at the primary user console. This allows, for example, a surgeon to be able to take over a technique or show it to a medical student and a doctor in training during a surgical procedure, or require multiple surgeons to work in a simultaneous or coordinated manner. Can be assisted during complex surgery.

User Console As described herein, a user console for controlling a remote robotic surgical instrument may provide a highly ergonomic and adjustable system that allows the user to comfortably control the remote robotic surgical instrument. For example, the user console may be adjustable (eg, automatically and / or manually) according to the seating profile, surgical procedure type and / or other parameters or settings associated with the user. In addition, the user console can facilitate easy and quick entry and / or exit of the user console. For example, for a request indicated for joining / exiting the user console, the user console will automatically be placed in an arrangement that allows the user to easily enter or exit (eg, the ascending arrangement described below). May be adjusted. In addition, the user console may be suitable for sterile use (eg, operating room use).

Typically, as shown in FIGS. 3A and 3B, a user console 300 for controlling a remote robotic surgical instrument is configured to receive an adjustable ergonomic seat assembly 310 and real-time surgical information. Display 350 and one or more control devices 340 for remotely controlling the robotic instrument. As further described below, the seat assembly 310 may be selectively arranged in a plurality of user console arrangements (eg, sitting arrangement, reclining arrangement, ascending arrangement). In some variants, other components of the user console (eg, displays, controls, etc.) may likewise have multiple positions or arrangements that correspond to the arrangements of the user console. The component automatically adjusts its position or placement in response to the placement of the selected seat assembly. In addition, one or more of the components of the user console may automatically adjust their relative position and / or placement according to the seating profile associated with at least one user, as further described below.

In another embodiment, as shown in FIGS. 2A-2G, the user console 200 for controlling the remote robotic surgical instrument comprises a pedestal 202, a seat assembly 204 connected to the posterior region of the pedestal 202, and a pedestal 202. It may be provided with a display 208 connected to the front region of the. These components, other components, and variants thereof are further described below. In one modification, the pedestal 202 may be omitted such that the user console 200 comprises a modular seat assembly 204 separate from the display 208. In another modification, the display 208 described herein may be an optional element as the sheet assembly 204 and the general purpose display may be combined or given separately.

Since robotic instruments and devices are typically susceptible to magnetic fields that can interfere with their function, at least some of the user consoles may be made of plastic, foam and other non-conductive materials. The user console may also be equipped with additional sensors to detect disruptions in the magnetic field in the room, so that personnel may perform correction steps to reduce interference.

Pedestal The pedestal of the user console may function to provide a support for adjustable relative positioning of the seat assembly and / or display and / or other components. The pedestal may be adjustable in at least one dimension (eg, length and / or width). For example, as shown in FIGS. 28A and 29B, the pedestal 2802 may be expandable / extendable along the anterior-rear side direction and retractable / retractable. For example, in the extended / extended arrangement shown in FIG. 28A (eg, while the user console is occupied by the user or used by the user in some other way), the pedestal 2802 extends from the rear pedestal portion 2807. The front pedestal portion 2809 may be provided. In a retractable / retractable arrangement (eg, for storage and / or transportation) as shown in FIG. 29A, the front pedestal portion 2809 is retracted or tilted towards the rear pedestal portion 2807. (Or vice versa), the display assembly 2808 approaches the seat assembly 2804, reducing the overall footprint of the user console. For example, the front pedestal portion 2809 may slide into a cavity or recess within the rear pedestal portion 2807 via a guide rail or other suitable track system. The stretchability and / or foldability of the pedestal 2802 may be manipulated manually (eg, by pulling the user away from the two pedestal portions or by pushing the two pedestals together). , And / or may be operated using a lead screw mechanism or other suitable actuator assembly. In some variants, the overall length of the pedestal in the tilted arrangement (eg, FIG. 29A) is about 50% to about 50% of the overall length of the pedestal in the extended arrangement (eg, FIG. 28A). It may be 100%, or about 65% to about 85%.

In some variants, the pedestal 2802 may include one or more transport wheels 2847 for contact with the ground surface. Wheels can help improve the overall movement of the cart, for example. In some variants, at least a portion of the wheel may be selectively positioned with respect to the pedestal 2802. For example, in FIGS. 28A and 28B, if the user console is in use and the pedestal is in an extended arrangement, the wheels 2847 are recessed into the pedestal 2802 or otherwise arranged and ground surface. It does not have to be in contact with. In this arrangement, the stationary legs 2822 (eg, pegs, etc.) connected to the pedestal 2802 and extending from below may be in contact with the ground surface to support the user console (or the stationary legs 2822 may be in contact with the ground surface. The underside of the pedestal 2802 may be omitted so that it can come into contact with the ground surface). Further front wheels 2848 connected to the front pedestal portion 2809 may remain in contact with the ground surface to facilitate pedestal length adjustment in the front-rear direction.

When the user console is transported or moved, the wheels 2847 may be arranged such that the pedestal 2802 rises above the ground surface. For example, as shown in FIGS. 29A and 29B, the wheels may be arranged (and the pedestal may be raised) such that the wheels 2847 extend beyond the stationary legs 2822 and / or the leading wheels 2848, and the user. The entire console is supported by wheels 2846 and 2847. When the user console is supported by wheels, the pedestal 2802 can be moved more easily for storage and / or transportation and the like. In this arrangement shown in FIG. 29B, the wheels 2848 and the front pedestal portion 2809 are lifted from the ground surface so that the front portion of the pedestal moves more easily over obstacles, thereby causing the user console to move. It will be easier to overcome obstacles on the surface (eg cables, debris, steps, etc.).

Wheels 2847 may be returned to a retracted position within the pedestal to restore the user console for an extended "use" arrangement. Locks and / or brakes may be combined to help maintain the user console in the desired pedestal placement and / or surface position. In some variants, the wheels may be placed and / or retracted by a hydraulic actuator system or any suitable actuator system (eg, gear train, hand crank or foot pedal system, etc.).

In addition, once the pedestal has been adjusted to a tilted arrangement, the seat assembly and / or display may further be adjusted so that the overall user console occupies a smaller volume. For example, the seat assembly and display may be moved to a lower position. Typically, foldability is also for situations such as transport between different locations (eg, into the operating room, out of the operating room, in the operating room, between hospitals, etc.) and also for miniaturized storage. Can be useful for.

In another exemplary modification shown in FIGS. 2C-2G, the pedestal 202 may include a rear portion 206 and a front portion 210. The pedestal may be relatively flat or flat along its length, at least at the bottom with respect to the interface with the surface of the earth. Similar to the pedestal 2802 described above, the pedestal 202 has at least one dimension (eg, length and / or) with stretchability and foldability between, for example, the front pedestal portion 209 and the rear pedestal portion 207. Width) may be adjustable. FIG. 2G shows a tilted arrangement, with the front pedestal portion 209 retracted toward the rear pedestal portion 207. In addition, other parts of the user console may collapse or fold to occupy a smaller volume to reduce the potential for damage during storage or transportation. For example, the support arm for an immersive display and / or armrest (represented by volumes 221 and 222, respectively) may be folded into a smaller arrangement, and the pedestal may be as shown in FIG. 2G, or Whenever I'm not using it, I'm lying down. When preparing for use during a surgical procedure, the pedestal may be extended into an extended arrangement, as shown in FIGS. 2C-F. Similar to those described above, the pedestal may be equipped with wheels 246 and / or 247 and may be equipped with locks or brakes that can be combined to help hold the user console in a stationary position.

However, in some variants, the pedestal may be omitted (eg, the seat pan, seat back and / or other seat assembly components described below may be directly connected to each other).

Seat assembly The seat assembly in the user console is preferably ergonomic and adjustable. In one embodiment, as shown in FIGS. 2A-2G, the seat assembly 204 comprises a seat support 214 connected to the pedestal 202 and a seat shell 216 movably connected to the seat support 214. May be good. The seat pan 218 (or seat bottom) and seat back 220 (or backrest) are connected to the seat shell 216, but in other examples, the seat pan or seat back is made without the use of the seat shell. May be connected to each other and / or to the seat support 214.

The seat support 214 shown in FIGS. 2A-2G includes a single columnar object, but in another example, the seat support device may include two or more columnar objects. The seat support 214 has a longitudinal axis 242 shown in FIG. 2C, the longitudinal axis 242 being angled rearward, but in other variants, vertically straight up and angled. May be attached, or may be inclined to the front side. In some variants, the angle of the columnar is about 80 ° to about 160 ° (eg, columnar and columnar) when measured between the columnar and the pedestal surface on the front side of the columnar. It is in the range of about 150 °) so that the angle between the object and the rear pedestal surface is about 30 °), but in other examples it is about 90 ° to about 135 °, or about 95 °. It may be in the range of ~ about 120 °. In the examples shown in FIGS. 2A-2F, the seat support 214 has a fixed orientation with respect to the pedestal 202, but in other variants, the seat support changes its angle with respect to the pedestal. Such a configuration may be used, and / or may be a configuration that translates in the front-rear direction and / or in the outward direction. In some further modifications, the seat support 214 may be configured to fit longitudinally or substantially vertically, or otherwise extend or retract. In some examples, a rear-angled or tilted seat support not only separates the seat pan or back vertically from the pedestal, but also rears the seat pan or back from the pedal assembly or display assembly. Separation to the side can be beneficial in accommodating tall people. In some variants, the position of the seat assembly 204 along the seat support 214 is determined by the actuator assembly (eg, feed screw, pulley assembly, other gear assembly, hand crank mechanism, etc. that connects to one or more actuators). It may be controlled and / or manually moved along the seat support 214 (eg, by the user lifting or pushing the seat assembly 204). The position of the seat assembly 204 along the seat support 214 may be selectively locked by a braking mechanism, a latch (eg, a pin), or the like.

In some variants, the seat swivel position (eg, the position of rotation around a vertical plane) may be adjusted by rotating the position of the seat support 214 with respect to the pedestal 202 of the user console. For example, the seat swivel position may be locked using a suitable locking mechanism, such as a brake, latch (eg, pin) or suitable device. A lever, button or other clutch mechanism will release the locking mechanism and the user will be able to adjust the swivel position of the seat assembly 204 (eg, manually or by moving under its own weight while sitting on the seat). ). The pedestal and / or seat support 214 may be provided with one or more detents that allow reliable positioning of the seat assembly 204 in one of a plurality of distinct swivel positions (eg, left, center, right). Good. In addition to or instead of this, the interaction of the pedestal and / or seat support 214 is a mechanism for allowing a continuous range of swivel positions (eg, at least a threshold amount to swivel the seat assembly). It may be provided with a friction-damping joint) that requires the application of a force.

In another exemplary variant, as shown in FIGS. 9-11, the user console 900 is similar to the user console 200 of FIGS. 2A-2F, except as described below. For example, as shown in FIG. 9B, the seat back 920 defines a longitudinal cavity or slot 915 that receives the seat support 914 and extends from the pedestal 902 through the seat shell 916. To adjust the seat assembly to different heights and angles, the longitudinal cavity may provide clearance for the seat support 914. For example, as shown in FIGS. 9A-9E, when the seat assembly is in a seated arrangement, a medium (eg, about half) length of the longitudinal cavity 915 engages the seat support 914. As such, the seat shell 916 may be at a medium height. If the seat assembly is generally lowered (eg, in a reclining arrangement), the seat shell 916 may be even lower in height, with more longitudinal cavities 915 in FIGS. 10A-10E. As shown, it may be engaged with the seat support 914. In contrast, if the seat assembly is generally raised (eg, in a raised position), the seat shell 916 may be even taller, with fewer longitudinal cavities 915 from FIG. 11A. As shown in FIG. 11E, it may be engaged with the seat support 914.

In some variants, the seat assembly may include at least one armrest. For example, as shown in FIG. 2C, the seat assembly 204 may further include an armrest 222 that connects to the seat shell 216, seat pan 218 or seat back 220. As already described, at least one armrest may be connected to the display mount or any suitable position on the assembly. As another example, as shown in FIG. 12A, the seat assembly may include two or more armrest assemblies 1222, including a left armrest assembly and a right armrest assembly. The armrest assembly 1222 may be connected to the left and right sides of the seatback 1220 in an adjustable manner (eg, hinge joints, screw joints, cylindrical joints, etc. for vertical pivots). .. For example, the armrest assembly 1222 may be vertically translatable at the prismatic joints so that the height of the armrest with respect to the seatback 1220 can be adjusted by moving along slot 1223. In other variants, the proximal end of the armrest assembly may be attached to the seat pan, seat back and / or other suitable portion of the seat assembly. The armrests may also be provided with straps, bars or other support structures that pass over the user's arm, which will help secure the user's arm in place.

The armrests may be foldable (eg, along the sides of the seat assembly or relative to it) and may be extendable (eg, along the front side of the seat assembly), respectively. , The user can access the seat assembly and pin the user in the seat assembly. For example, the armrest 222 may lie down to the side of the seat shell 216, as shown in FIG. 2G, or may extend forward across the seat assembly, as shown in FIGS. 2C-2F. Further, the one or more armrests may be swung outward on the sides with or without tilting, allowing the user to access the seat assembly. The armrests may be curved (eg, the concave surface faces inward with respect to the seat) or may have other shapes that facilitate movement of the lateral sides, allowing the user to use the forearm, stomach. The armrest could be swung outwards by pushing with, for example (for example, to maintain the sterilization of the user's hand).

The armrests may include multiple links connected by joints. The armrest joint may include any variety of joints such as pin joints, fork type joints, flat or sliding pin-in-slot joints, ball-in-socket joints, and the like. The one or more joints may be controlled by one or more motors, brakes and / or clutches so that the desired armrest arrangement is preserved and / or set automatically. Force sensors may be provided to detect and reduce collisions from joints driven by motors in contact with the user. Each joint may also include a position sensor or encoder to determine the position of one or more joints on the armrest. The joint information may be used to determine or confirm the armrest and / or set the placement or state of the user console or robot system (eg hibernation, user participation, user exit, etc.). , Or may be changed.

For example, as shown in FIGS. 12B and 12C, each armrest assembly 1222 is continuously pivotally connected to allow for folded and unfolded arrangements, or to change the effective extended length. A series of plurality of articulated links configured as described above (eg, 1222a, 1222b, 1222c, etc.) may be provided. Each armrest assembly 1222 may be mounted or connected to the left or right side of the seat assembly, or elsewhere. For example, the armrest assembly 1222 may be connected to the side of the seat assembly via a proximal support 1224 that is rotatably connected to a link such as 1222a, or via a mounting plate with fixtures. It may be attached so as to be fixed to the side surface of the seat assembly. In a folded arrangement (FIG. 12B), the armrest links 1222a, 1222b, 1222c are collapsed and in a miniaturized position, stacked on each side of the seat assembly, on top of each other. The relative length of the links may be designed to facilitate effective folding. For example, the second link 1222b allows the second link 1222b to rotate completely on the first link 1222a without causing mechanical interference with the proximal indicator 1224. It may be shorter than 1222a. When both the left and right armrest assemblies are in the folded arrangement, the seat assembly is open and more easily accessible to the user to sit on the seat assembly. From the folded arrangement, the armrest links may be extended, at least partially pivotally, for example to an expanded arrangement, as shown in FIG. 12C. In a fully extended arrangement (eg, as shown in FIG. 12A), the distal ends of the armrest assembly 1222 may face each other so as to surround the user sitting in the seat assembly. Different amounts of extension of the armrests may be suitable as an extended arrangement for different user console arrangements, different users (eg, depending on waist circumference or weight), and the like. 12B and 12C show an armrest assembly 1222 with three armlinks, but in other variants, the armrest assembly has three, four or more to allow for a variety of desirable armrest arrangements. It may contain any suitable number of concatenated links.

The movement between the collapsed and unfolded arrangements may be controlled manually and / or with one or more actuators (eg, with a stepper motor or servomotor) or automatically. .. For example, as shown in FIGS. 12D and 12E, the pivot junction between the two arm links 1222a and 1222b may include an actuator 1230 with a shaft 1232. The two arm links 1222a and 1222b may be connected by a pin joint or other rotatable joint. For example, the distal end of the first link 1222a is rotatably engaged with a circular recess (eg, having a bearing, tongue-groove fitting or other key) at the proximal end of the second link 1222b. It may be provided with a circular hub configured in. In addition, a circular hub at the distal end of the first link 1222a may be housed in the body of the actuator 1230, and the proximal end of the link 1222b may accommodate gears, chains, cables, or other drive coupling mechanisms. It may be used and directly or indirectly connected to the shaft 1232 (eg, press fit, pin, epoxy, etc.). When the actuator 1230 receives the appropriate command to fold or unfold, the actuator 1230 may pivot the link 1222b with respect to the link 1222a at a predetermined angle and / or velocity. The armrest assembly 1222 may include actuators for some or all of its articulated joints (eg, the link 1222c may also be operated to pivot relative to the link 1222b). Good). The actuator moves periodically or intermittently to the armrest assembly by a predetermined amount (eg, slightly with a slight movement) over a predetermined time between surgical procedures to reduce the fatigue of the user's arm. May be ordered.

The armrest assembly may be locked or secured in an expanded (or partially expanded) arrangement to help secure the user sitting in the seat assembly (eg, the armrest assembly may be It may withstand at least a certain amount of force, for example, the force with which the user pushes the armrest assembly outwards before the armrest assembly collapses). For example, the actuator 1230 at the articulated junction between the two armrests 1222a and 1222b is in the "locked" position (eg, driven in reverse when it detects a user force in a particular direction). And / or brakes (not shown) may be engaged to hold the armrest assembly in an expanded position. As another example, the distal ends of the left and right armrest assemblies may mechanically touch and / or lock against each other, and vice versa, to secure the armrest assembly in an expanded arrangement, or It may be associated with releasing the armrest assembly from an unfolded arrangement (eg, using a button, latch mechanism). The joint is moved, maintained, or locked in the desired position using a mechanism such as, for example, a friction-compatible joint, a detent, or a joint with a releasable friction-compatible or mechanical interlock. May be good. However, the "locking" position or locking mechanism, if present, is released by the force of the user above a certain threshold so that the user can urgently stop the seat assembly in case of emergency or other need. You may. In addition to or instead, the user console includes an emergency mode (engageable by buttons, clutches, voice commands, etc.) that automatically disables all "locking" positions or locking mechanisms. You may.

In other variants, the seat assembly may include only one armrest assembly attached to one side (eg, left or right) of the seat assembly, extending to a length that extends to at least most of the width of the seat assembly. Possible, or the seat assembly may include one or more armrests configured to extend or move in an overhead manner (eg, above the back of the seat back). Other variants of the arm that can be tilted and extended are also envisioned. For example, at least one arm link is, in addition to, or in place of this, separately, for example, with telescopic links and / or sliding pin joints to facilitate foldability and stretchability. May be translated with respect to the link of. As shown in FIGS. 13A-13D, for example, the armrest assembly 1322 may include a first link 1322a, a second link 1322b, and a third link 1333c, which are the armrest assembly 1222 described above. Similarly, they move with respect to each other. However, in addition, the second link 1322b or another link translates relative to the first link 1322a (eg, via a sliding pin joint), providing additional freedom for additional placement flexibility in the armrest assembly. May be given. For example, FIG. 13B shows a second link 1322b extending longitudinally and at a position slightly angled from the centerline and a third link 1322c lying sideways in the center. FIG. 13C shows a second link 1322b aligned in the longitudinal direction and extended with respect to the first link 1322a, and a third link 1322c which is also longitudinal and extended forward. .. FIG. 13D is in a position aligned longitudinally and at least partially retracted with respect to the first link 1322a so that a portion of the third link 1322c overlaps the first link 1322a. Link 1322b is shown. Similar to armrest assembly 1222, one or more joints between arm links in armrest assembly 1322 may be operated by their respective actuators and configured for automatic control. Other variants of the armrest assembly may incorporate different numbers of links and other combinations of sliding pin joints and / or non-sliding pin joints.

In the exemplary variations shown in FIGS. 14A and 14B, the arm support coupling 1400 may be connected to or adjacent to the seat assembly. The arm support coupling 1400 may be movable between a folded arrangement (FIG. 14A) and at least one unfolded arrangement (eg, FIG. 14B). For example, a collapsed arrangement would be suitable for users to enter and exit the user console, or for purposes such as storage and / or transportation.

One or more various spread arrangements include user characteristics (eg, user size, eg, height, weight or waist circumference) and / or surgical work features (eg, surgery performed by the user using a robotic surgery system). Depending on the type of treatment), it may correspond to the desired position of the arm support for the user. Typically, the extended arm support may be configured to involve adjustable armrest height, anterior / posterior position, and / or medial / lateral rotation, with separate left / right If arm supports are provided, each arm support may be dispositionable independently. The features of the adjustable arm support may be manually adjustable by the user and / or monitored, or may be automatically placed and computer controlled. The adjusted arm support arrangements and settings may be stored in memory as part of the profile associated with a particular user and / or user type, and the arrangements or profiles are stored via the seat control device. , Is configured to be recalled. Access to the seat control device may be, for example, by a user display or touch screen.

One or more unfolded arrangements may further help wrap in front of the user when the user is in the seat assembly, thereby anchoring the user in the seat assembly. 14A and 14B show only one arm support coupling 1400 adjacent to the seat assembly, but in some variants, at least two arm support couplings may be adjacent to the seat assembly. Should be understood. For example, the user system may include first and second arm support couplings that are coupled to opposite sides of the seat assembly or that are otherwise adjacent. The first and second arm support couplings may be mirror images of each other (eg, the left arm support coupling and the right arm support coupling of the mirror image are extended approximately relative to the centerline of the seat assembly. ).

The arm support coupling 1400 in the user console may include a connecting assembly that includes a proximal segment 1410, an intermediate segment 1420, and a distal segment 1430. The proximal segment 1410 may be connected to the seat assembly either directly or by an intervening pedestal structure such as one or more additional proximal segments that connect to the seat in a similar manner (eg,). On the side of the seat, wrapped in the back seat of the seat, or wrapped in the underside of the seat, etc.). In another example, the arm support coupling 1400 may be connected to the surface of the earth (eg, to a pedestal resting on the surface of the earth) or to another part of the user console. In some variants, the connection assembly may include fewer or more segments. The segments may be connected by a pivotable junction. For example, as shown in FIGS. 14C and 14D, the proximal segment 1410 and the intermediate segment 1420 are connected to the junction 1412 so that the proximal segment and the intermediate segment can move with respect to the junction 1412. May be good. Similarly, the intermediate segment 1420 and the distal segment 1430 may be connected to the junction 1422 so that the intermediate and distal segments can move with respect to the junction 1422. Thus, the joints of the joints 1412 and 1422 will allow the arm support coupling to be moved to the desired position between the folded and unfolded arrangements.

In some variants, the arm support coupling may include a SCARA (selectively fitted assembly robot arm) coupling that articulates along a parallel axis, eg, a parallel axis passing through the joints 1412 and 1422. (For example, the arm support coupling typically fits in the XY directions by rotation around the parallel axis, but is substantially rigid in the Z direction). For example, the intermediate segment 1220 may rotate relative to the proximal segment 1410 via the junction 1412 in the XY direction, and the distal segment 1430 may rotate through the junction 1222 in the XY direction. It may rotate relative to 1420. However, the joints 1412 and 1422 are shown as pin joints, giving them two degrees of freedom together, so that the joints 1412 and 1422 are in the Z direction of the intermediate and distal segments 1430. Substantially prevent movement. In other variants, the arm support coupling may include any suitable type of coupling (eg, including telescopic coupling segments, etc., giving three or more degrees of freedom).

In some variants, all segments of the arm support coupling may typically rotate in the same plane. In other variants, at least one segment of the arm support coupling may typically rotate on each separate surface (eg, offset from the other segment with a spacer). For example, as shown in FIG. 14C, the proximal segment 1410 and the intermediate segment 1420 may typically be rotatable in the same plane, while the distal segment 1430 is typically the proximal segment 1410. And may be rotatable on a surface different from the intermediate segment 1420. In other words, the intermediate segment 1420 may be rotatable in the first plane via the pin junction 1412 and the distal segment 1430 may be rotatable in the second plane via the pin junction 1422. The second plane may be parallel to the first plane and offset from the first plane. In other variants, the arm support coupling may include any suitable coupling (eg, a coupling that articulates at at least two orthogonal planes).

The seat assembly may also include a headrest. For example, as shown in FIGS. 2A-2F, the seat assembly 204 may include a headrest 224 that connects to the upper portion of the seat back 220. Alternatively, the headrest may be connected to the seat back using a hinge joint, one or more longitudinal members, an extendable bellows or accordion arrangement, an extendable telescopic arrangement, and the like. In some variants, the headrest portion of the seat assembly 310 is connected to the seat back via a hinge joint or other suitable joint to facilitate adjustment of the headrest angle with respect to the seat back. You may be. The headrest pad may be movably connected to the headrest portion (eg, along at least one track or rail) to adjust the height of the rest position for the user's head. Therefore, as shown in the schematic diagram of FIG. 4A, the height adjustment and angle adjustment for the headrest may be separated from each other, allowing for more combinations of headrest height and angle. For other aspects of the user console, the height of the headrest may be adjusted manually or automatically, depending on the user's placement, profile and / or preference.

In some variants, the headrest (or part of the seat assembly near the headrest) may include audio equipment. For example, the headrest can communicate, for example, with an employee (eg, an assistant at another location outside the room or at a remote location), give instructions, receive instructions, and provide noise canceling capabilities. It may be equipped with a microphone and / or speaker embedded in or connected to the. Audio devices, in addition to or in place of this, use wired or wireless communication (eg, the Bluetooth® protocol) to, for example, participate in telephone conversations, for listening to music, and the like. , May be connected to an auxiliary device (eg, telephone or display assembly). In another example, a headset may be provided that is user wearable and includes a microphone and / or speaker that is connected to the headrest by wire or wireless communication.

The surfaces of the seat pan, seat back, headrest and armrest, if present, may include a hard surface and / or a soft surface (foam or gel cushion, cover or structure). The surface may be porous or closed, and the cushion or structure may be configured to be detachably connectable to the rest of the seat pan, seat back, headrest and / or armrest. .. Connections may be made using hook-and-loop fasteners, buttons, snaps, zippers, laces, tongue-groove fittings and the like. Depending on the type of connection, the user may choose from a variety of cushions, shapes and styles that can be used with the seat assembly, for example using hook-and-loop fasteners to manually adjust the cushion positioning. right. In another example, one or more of these cushions may have a circular, oval or polygonal shape. 8A and 8B show an example of a seat assembly 800 having a bottom seat shell 802. Connected to the seat shell 802 are a seat pan 804 with a bottom cushion 806, a seat back 808 with a back cushion 810 and a headrest cushion 812. The bottom cushion 806 and the headrest cushion 812 may have a rectangular shape, and the back cushion 810 may have a tapered shape from the bottom to the top. In this variant, the cushions 806, 810, and 812 each have rounded corners and rounded edges, but in other examples they have square corners and / or edges. It may have a part. In some other examples, the back cushion and headrest cushion may be integrated so that they can also be, for example, a bottom cushion and a back cushion. Armrest cushions 814 may also be provided. These armrest cushions 814 may be located in the distal region of the multilink armrest 816, with the proximal support 818 movably connected to the intermediate support 820 and the distal support 822. The armrest cushion 814 may have an arched or angled arrangement, but in other examples it may have a straight line or other shape (eg, an oval or paddle shape).

17A-17E show exemplary variants of the seat assembly. In these variants, the seat assembly each has a seat support 1714 articulated along the posterior recess of the bottom shell 1716, with the seat pan and seat back 1704 with the seat shell 1716 and a pair of armrests. It is similar in that it is connected to 1722. In addition, the seat assembly includes a headrest 1730. However, the shapes and relative sizes of the various seat assembly components may vary. For example, as shown in FIG. 17A, the seat back 1704 may be tapered with respect to the narrowed upper portion so that the lower portion is widened, and the headrest portion 1730 is the upper portion of the seat back 1704. It may be provided with a cushion that extends widely outward beyond either side of the. As shown in FIG. 17B, the seat back 1704 may have approximately the same width along its length so that the lower portion of the seat back 1704 is approximately the same width as the upper portion of the seat back 1704. .. As shown in FIG. 17C, the seatback 1704 may typically have a wide square or rectangular lower portion, a linearly tapered middle portion and an upper portion narrowed by the headrest 1730. As shown in FIG. 17D, the seat support 1714 and seat back 1704 may have a generally curved profile instead of a linearly angled profile. As shown in FIG. 17E, the seat back 1704, FIG. 17E shows a slightly narrower seat back 1704, with cushions for the headrest 1730 and seat back 1704 both extending beyond one side of the seat back 1704. It may be similar to the seat back of FIG. 17B, except that it extends outward. In other variants, the components of the sheet assembly of different sizes and / or shapes may be combined in any suitable manner.

The various components of the seat assembly may be adjustable to make eu-optical and other mechanical customizations for a particular user or type of user. In addition to moving the seat assembly longitudinally or perpendicularly to the seat support, other seat adjustment movements (but not limited to, with respect to its vertical axis or around the seat support). Rotation of face shell, front / rear tilt of seat shell with respect to seat support, front / rear tilt of seat pan, front / rear translation of seat pan, front / rear tilt of seat back , Seatback vertical translation, seatback front / rear tilt, seatback front / rear translation, headrest vertical translation, headrest front / rear tilt, headrest front / rear Lateral translation, proximal lateral rotation of the armrest, distal lateral rotation of the armrest, vertical translation of the armrest and / or adjustment of other seat assemblies may be given). These movements and other movements are described in more detail below.

With reference to the exemplary embodiments of FIGS. 2A-2F, adjustments to the seat assembly 204 may be made manually by the user and / or automatically by the controller via one or more actuators or drive motors. May be done in. The control device may be provided by one or more physical buttons, sliders or switches on the seat assembly 204, pedal assembly 212, display assembly 208 and / or auxiliary display or panel 234. The control device may also be operated by a user interface device.

Actuators or drive motors, if present, are located in seat shells, columns, pedestals, seat pans, seat backs or seat assemblies or other locations within the user console for adjustment mechanisms in the seat assembly. May be good. The adjustment mechanism may be driven directly by a motor or may be mechanically connected by one or more gears, belts, chains or couplings. Actuators may be any variety of suitable motors, including DC motors with or without brushes and / or synchronous or inductive AC motors, solenoid actuators, the actuators being capable of reverse drive, for example. It may be something that cannot be driven in reverse. In some examples, one motor may be configured to be used with multiple adjustment mechanisms using a clutch or transmission system. For example, a single motor provided to the seat support 214 may be used for longitudinal adjustment of the seat assembly 204, but via a belt, chain or other mechanical coupling, the pedal assembly 212 and / or It may also be used to adjust the display assembly 208. However, in another example, the pedal assembly 212 and / or the display assembly 208 may include additional motors for making adjustments.

The seat assembly may include sensors (eg, position sensors, junction encoders) for monitoring and / or confirming the mechanical adjustments performed. These sensors may also be used for calibration procedures and / or safety checks. For example, one or more adjustments may be provided by an adjustment range or a movement test range for confirming or testing appropriate function. In a system in which one or more motors are connected to a cable, chain, gear or other drive mechanism to transmit force to a position away from the motor shaft, for example, any elasticity, looseness, in the drive mechanism. In order to identify slippage, creep, etc., one or more sensors may be arranged at various positions by the drive mechanism. Upon detecting such a feature in the drive mechanism, the system may provide a compensating force to achieve the desired mechanical adjustment, and if the expected mechanical adjustment is not detected, an error or warning Message may be given. In some variants, the seat assembly may include one or more sensors that indicate the presence or absence of a user in the seat assembly (eg, a pressure sensor, a position sensor that detects chair swivel). Other mechanisms in the seat assembly (eg, vibration motors) may be provided to provide the user with tactile feedback indicating the state of various components such as the user console, robotic equipment, and the like. For example, the seat assembly may vibrate the seat pan, seat back, headrest, armrest, etc. to warn when a user interface device (described below) exceeds a traceable workspace.

One or more adjustment mechanisms for the seat assembly 204 may include locking mechanisms to maintain the arrangement of the adjustment mechanisms when set by the user. In some examples, a non-reverse drive motor may be provided, a locking mechanism may or may not be provided. The locking mechanism may be a friction brake or an openable mechanical interlock, such as a locking pin mechanism. In order to reduce the load on the motor or user during seat adjustment, a balancer or counter balance mechanism for that purpose may be provided.

Control device The user console may include one or more control devices or user interface devices for remotely controlling the robotic instrument and / or controlling other aspects of the system. The control device, for example, operates a robot arm, operates an end effector connected to the end of the robot arm, operates a user console for adjustment, operates a graphical user interface, or navigates. It may be operated by the user.

In one variant, as shown in FIG. 1A, the user console 100 is a control or user interface device operated by at least one hand, eg, one or more user interface devices (eg, left controller and right). It is equipped with a pair) including a control device, and is tracked in three-dimensional space over time. The control device operated by another hand may include, for example, a joystick, a gripper, a pincer, and the like. The user interface device 106 may be wired or wireless, may include one or more accelerometers on one or more axes, and may, but is not limited to, use an active and / or passive emitter to track magnetic field or optics. It may be tracked by any of a variety of mechanisms, including tracking. The transmitter for the hand-operated controller may be located, for example, on the pedestal of the user console, on the armrest or headrest or other part of the seat assembly, and / or on any suitable part of the user console. .. The control device 106 includes a tactile feedback mechanism and a mechanical actuator or touch actuator to facilitate further operation of the robot system 112 or various control devices and adjustment settings of the user console 100 itself. May be good. For example, in some variants, the control device 106 is used to test or test the spatial limitations of surgical tools (robot tools, manual tools, etc.) by giving short vibration impulses or the like as tactile feedback to the user. You may check. Further, the control device 106 may be used to provide a form of user identification (eg, posture-based or fingerprint biometric identification).

In some variants, one or more user interface devices can be permanently or detachably mounted on a docking station (eg, on the front armrest of a seated user, on a second platform), another suitable user interface. It may be attached to a device attachment or container (hook, cup) and / or independently hand-held and operated by the user. For example, the armrest in the user console may include mounting portions for docking at least one user interface device. For example, if a user (eg, a surgeon) wants to use a user interface device to contract a robotic surgery system and take a break (eg, to break or alternate between different operating techniques). And / or for storage or transportation purposes, the user interface device may be located in the mounting area. For example, as shown in FIGS. 14C and 14D, the arm support coupling 1400 may include a mounting portion 1624 coupled to the intermediate segment 1620. The mounting portion 1624 may include a frame, tray, recess, hook, or other container for receiving the user interface device 1428. The mounting portion 1624 may be integrally or separately formed with the intermediate segment 1620 (eg, by injection molding), a fixture, thread, snap fit, other suitable interference fit, or any suitable interference fit. It may be connected to the intermediate segment 1620 in a suitable manner. In other variants, the mounting portion may be made integrally with or connected to an arm support coupling or any other suitable portion of the user console. In some variants, the mounting portion (or another portion in close proximity to the mounting portion) may include one or more sensors to detect whether the user interface device is docked with the mounting portion. For example, a proximity sensor, an electromagnetic field sensor that interacts with the user interface device, or any suitable sensor may be used to determine if the user interface device is docked. The user console has more mounting positions for more than one user interface device (eg, more than one docking position on one arm support coupling, or more than one arm supporting coupling with each docking position). In the provided variant, one or more sensors may be used to detect which of the plurality of user interface devices is docked and / or whether all of the plurality of user interface devices are docked. One or more sensors, in addition to or in place of this (eg, in a fixed fashion or docked to the left arm support coupling, and the right side docked to the right arm support coupling). User interface devices may be used to determine if the user interface devices are properly docked.

The mounting portion may be hidden (eg, relatively inaccessible to the user) if the arm support coupling is in a folded arrangement, or if the arm support coupling is in an expanded arrangement. May be exposed (eg, relatively accessible to the user). Such selectively hidden because the user may need to expose the user interface device and widen the arm support coupling so that the user can search for the docked user interface device. The mounting portion, for example, when using a user interface device to control a robotic surgical system, the user is prompted or remembered to use the arm support coupling in its expanded arrangement, thereby. It will improve ergonomically and reduce user fatigue.

As another example, as shown in FIGS. 14E and 14F, the docking station 1442 may be connected to the armrest 1440. The docking station 1442 may be recessed in the armrest 1440 when the user interface device is not in use (FIG. 14E), or may be tilted in any other manner, and then the user interface device may be laid down during treatment. When in use (FIG. 14F), it may slide out of the recess in the armrest 1440 or extend in other ways. In addition to, or in lieu of, the user interface device may be removable from the docking station. For example, as shown in FIG. 14G, the user interface device 1450 may be lifted from a dormant location (eg, recess 1446 in the docking station 1442) so that the user can independently hold and operate it. Good. Any wire connecting to the user interface device 1450 may pass through channel 1444 to completely remove the user interface device 1450 from the docking station 1442. If the user interface device is not in use (eg, after the surgical procedure is completed or during a break during the procedure), the user interface device 1450 may be returned to its resting place. The docking station 1442 or other device holder may include sensors (eg, pressure sensors, conductive sensors) to detect when the user has lowered one or more control devices, and the user console may include these. The reading of the sensor may be used to change the operating state of the robot system or user console. The docking station or other device holder may also include, if necessary, electrodes, induction coils, or other charging devices for charging the user interface device when placed in the holder. In other variants, a docking station or other attachment may be used in addition to or in place of this to hold another device (eg, a user's cell phone or portable music player). Good.

As another example, as shown in FIGS. 15A and 15B, the docking station 1512 may be connected to the display support 1516 (further as described below). The docking station 1512 may include, for example, a tray extending towards the seat assembly. Like the docking station 1442, the docking station 1512 may include a resting place for the user interface device 1450. The docking station 1512 may be adjustable by extending towards the seat assembly, rotating around the display support 1516, tilting outwards to the left and right, and tilting forward and backward. Further, the docking station 1512 may be collapsed, for example for storage purposes or to increase the workspace of the user operating the user interface device in a predetermined space.

In other variants, the control device may include a control device operated by one or more feet to control the robotic surgical instrument and / or control the user console. For example, a foot-operated controller may be used to control the end effector at the end of the robot arm (eg, pinch, grab, cut, etc.). As another example, a foot-operated control device is used, eg, a seat assembly (eg, transitioning between a seating arrangement, a reclining arrangement, an ascending arrangement and / or another seating arrangement), an armrest, a headrest. , Display assemblies, immersive display assemblies, etc. may be controlled in parts of the user console to adjust the position and / or orientation.

One variant of a foot-operated controller includes a pedal assembly. The pedal assembly may typically be located in front of the seat assembly so that when the user sits in the seat assembly, the user's feet can access the foot-operated controls. .. The pedal assembly may have various arrangements, along with a control device operated by any suitable foot.

As shown in FIG. 16, the pedal assembly may include a pedal tray 1610 and one or more pedals 1620 connected to the pedal tray 1610. The number, shape and / or mechanism of the pedals 1620 may be based on the type of function (eg, to control an end effector, to control or adjust a user console, etc.). In another example, the pedal assembly, in addition to or in place of this, includes control devices operated by other feet, such as footswitches, touchpads, force plates, joysticks and / or other control mechanisms. You may have it. Some of the foot-operated controls may include force feedback as a form of tactile feedback. Some of the foot-operated controls may render certain types of surgical procedures inoperable, depending on the needs of the particular type of control. The pedal tray 1610 may be configured to be manually and / or automatically adjustable in the front / rear direction and / or vertical, and / or also have an adjustable angle. It may be configured as follows. For example, the pedal tray 1610 may include a pedal plate 1612 configured to move at an angle to the bottom of the pedal tray.

In another example, the pedal assembly may include two or more separate adjustable pedal trays, one for each foot or for the control mechanism of each foot. Alternatively, the control mechanism for each foot may be adjustable with respect to the pedal tray. In addition to adjusting the pedal position and pedal tilt angle in the front / rear direction, other possible adjustments include pedal resistance over the entire range of movement or partial range of movement. Radial orientation of the pedal tray or foot control mechanism. Radial orientation adjustment can reduce foot or leg fatigue in the user by compensating for the normal inward or outward rotation of the user's leg and the supination or inward bias of the foot. Further, as shown in FIG. 2G, the pedal assembly 252 may be folded (or retracted to the recess of the pedestal) to facilitate storage or transportation of the user console in a miniaturized arrangement. Good).

The pedal assembly may be attached to other components of the user console, or may be connected in other ways, or it may be separate and independent of the other components of the user console. It may be a module in good or other fashion. For example, as shown in FIGS. 2A-2F, the pedal assembly 212 may be attached to the front portion of the pedestal 202.

In other variants, the user console, in addition to or in place of this, is a robot system or instrument and / or user interface such as one or more keyboards, mice, trackballs, voice controls, head tracking. , Posture tracking, may be equipped with other control devices for remote control of eye tracking (eg, an open display configured to track movements of the head, hands, eyes, etc., as described below. And / or use a sensor located on or near a display monitor such as an immersive display). Other mechanisms (eg, actuating springs, oscillating motors, etc.) may be provided in addition to or in place of this to provide tactile feedback to the user.

Display The user console may further include one or more displays for giving and / or receiving information from the user. For example, at least one display may be configured to receive real-time or near-real-time surgical information. For example, the display may receive and show a video feed from a camera device inserted into the patient's body cavity, where the camera device is, for example, a surgical procedure utilizing an end effector controlled via a user console. In the meantime, a field of view of the surgical site may be given. In addition, the display allows control of the robotic equipment (eg, by eye tracking, head tracking, posture tracking, etc.) and / or operates the robot arm and operates an end effector connected to the end of the robot arm. The user console may be manipulated for adjustment and the graphical user interface may be manipulated or other aspects of the system may be controlled for navigation. In addition, the display may be connectable to other auxiliary devices (eg, the user's mobile phone or portable music player) so that the user can interact with the auxiliary device through the display.

In some variants, one or more displays in the user console display surgical information and / or other medical information (eg, patient vitals, medical records, real-time information, such as endoscopic images). However, it may be configured to enable communication via other medical staff in the room or a remote third party.

Open Display In some variants, the display comprises an open display (eg, a monitor display or screen). For example, as shown in FIGS. 2A-2F, the display assembly 208 may be directly connected to a display column or support 226, a display mount 228, a display mount 228, or via a display shell or frame 232. It comprises one or more open display panels 230 that may be connected together. The display panel 230 has a variety of resolutions (eg, WXGA, SXGA, SXGA +, WXGA +, WUXGA, QWXGA, QXGA, QHD, QSXGA, QXGA +, 4K UHD, DCI 4K, HXGA, WHXGA, HSXGA, WHSXGA) and refresh. It may have a rate (eg, 24 Hz, 30 Hz, 50 Hz, 60 Hz, 120 Hz, 240 Hz) and may have a horizontal or vertical direction. In the particular arrangement shown in FIG. 2A, the display assembly 208 comprises a central horizontal display panel and a display panel perpendicular to each side of the central horizontal display panel, which are displays. It is attached to the shell 232. In some variants, one or more panels 230 may be configured for 3D viewing. 3D viewing may be configured to be viewed using active shutter spectacles or passively polarized lenses (eg, giving a passive 3D image without the need for special spectacles). In other variants, the one or more panels may include autostereoscopic lens technology that does not require the use of eyeglasses. The open monitor display may be double-sided, with the anterior side facing the user in the seat assembly, while the posterior side is a video feed by another surgical staff at the same time as the user feed on the front side of the display. You may be facing the rest of the room so that you can observe. In some examples with pedal trays (eg, those shown in FIGS. 9-11), the display support is large for the pedal tray in the anterior direction to accommodate the translationally adjusted pedal tray. It may be a double columnar design with sufficient space between the columns that can provide a range of movement, and / or the user's legs can be extended between the columns (eg, of the back). For higher users, or if the seat assembly is in a reclining arrangement as further described below).

17A to 17E show a modified form of the display 1708, and FIGS. 18A to 18E show a modified form of the display support 1826. These variants are similar in that the display 1708 may be a three-panel display (or more panels) that includes a main center panel and two side panels, and the display is double. It is supported by a display support 1826 having a pillar or member of. The main panel may have a horizontal orientation and the two side panels may have a vertical orientation, but in other examples each panel may have a horizontal or vertical orientation. It may be configured and / or each panel may rotate if necessary. The display 1708 may, or instead, be configured such that all three panels rotate or pivot together (eg, to reduce glare). However, the display 1708 may instead include any suitable number of panels (1, 2, 4, etc.). The shape of the display support 1826 may vary, for example, in terms of display support columns. For example, as shown in FIG. 18A, display support 1826 may include a substantially trapezoidal opening made up of a wide pedestal, a linear tapered columnar object, and a narrowed upper portion. As shown in FIG. 18B, the display support 1826 may include, at least in part, a substantially square or rectangular opening made up of a pedestal and two vertical indicator columns. As shown in FIG. 18C, the display support 1826 may include, at least in part, another nearly polygonal opening made of a support column having a vertical portion and a linear tapered portion. .. As shown in FIG. 18D, both display supports 1826 may be similar to those shown in FIG. 18A in that they both define a substantially trapezoidal opening between the display columnar supports, provided that FIG. Reference numeral 18D indicates an opening between supporting columns having a curved, rounded, convex upper outer circumference. FIG. 18E shows a display support 1826 similar to that shown in FIG. 18B, except that in FIG. 18E, the upper portion with respect to the display 1708 mounting portion is narrower than in FIG. 18B.

In yet other variants, the display may be independent of the user console. For example, the display may be wall mounted, or may be placed on a tabletop, surgical cart, or the like.

The display assembly 208 may be configured for one or more adjustments. For example, the display support 228 may be configured to be adjustable in the front / rear direction so that the user can set the desired viewing distance from the seat assembly 204. To facilitate this movement, the display assembly 208 may have one or more wheels, low friction sliders, or rollers 246 on its lower surface. The display assembly 208 is also configured to adjust its vertical position along the longitudinal axis of the display support 228 at the interface between the display support 226 and the display mount 228 or display shell 232. You may be. The display panel 230 or display shell 232 may be configured to pivot outward and / or tilt upward or downward. Like the seat assembly 204, the display assembly 208 may be manually adjusted and / or via a dedicated controller device or via the open display 230, second display 234 and / or immersive display 236 (below). It may be adjusted by a controlled device that is monitored via (described). In some variants, the longitudinal travel path does not have to be a linear locus. For example, as shown in FIG. 2C, the lower portion 248 of the display support 226 may be tilted towards the user, while the upper portion 250 is more vertical. This arrangement gives a neutral vertical display angle at the upper display height, while at lower display heights the display tilts towards the user. This non-linear movement trajectory may be provided in place of or in addition to any independent tilting mechanism provided between the display mount 228 and the display support 226. The adjustment of the display assembly may be independent of the adjustment of the seat assembly and / or may correlate with the adjustment of the seat assembly (eg, the display assembly adapts to the tilt of the seat assembly or It may be tilted automatically to match).

Immersive Display In some variants, the user console is, or in place of, an immersive display, eg, a periscope or other head that is placed in contact with the user's face or head. It may be provided with a display attached to. As shown in FIGS. 3A and 3B, for example, the immersive display 360 is connected to the seat assembly 310 via an immersive display support arm 362 that arranges the immersive display 360 in front of the user in the seat assembly 310. As a result, the user may look directly at the contents of the immersive display 360 in an immersive manner (eg, comfortably and ergonomically with less distraction from the user's surrounding vision). The user is immersed in the display environment). An immersive display provides various information related to the surgical procedure (eg, endoscopic camera images of the surgical site, static images, GUI, etc.) and / or a robotic surgery system (eg, situation, system settings) and / or Other suitable information may be displayed in the form of 2D and 3D video, images, text, graphical interfaces, warnings, controls, indicator lights and the like. Other immersive virtual head-mounted, relying entirely on the movement of the head-mounted display to change the image in the display, limiting the ability of the head to control other instruments. Unlike reality devices, this immersive display allows the user to control head posture and other head / eye movements for control of the immersive display and operation of other instruments such as in robotic surgery systems. You will be able to use and interact with what is being displayed.

An immersive display (for example, to show the surgeon the operating room without having to leave or leave the immersive display, to show the surgeon where the surgeon's instruments were at the surgical site with a locus icon. ) It may be a virtual reality display, an enhanced reality display, or any arrangement. In addition to the monitor, an immersive display may be included, or either the monitor or the immersive display may be omitted from the user console. In a variant in which both an open display / monitor and an immersive display are included in the user console, the immersive display may have an opening or transparent window that allows the open display to be "see through". Good (eg, having a shutter that switches between immersive display visibility and open display visibility). Alternatively, the system may output any image or video signal to a general purpose display.

Typically, in some variants, as shown in FIG. 19A, the immersive display 1900 is attached to a support arm 1912 and has at least one housing 1910 configured to engage the user's face. An eyepiece (eg, at least two eyepiece assemblies 1930 arranged in a housing and configured to provide a three-dimensional display) and at least one sensor (eg, engaging with the user's face or the user's face). (Represented by a sensor 1924 on a face frame 1922) configured to be in close proximity to. The sensor, in some variants, is empowered with certain parameters (eg, the presence or absence of the user engaging the immersive display 1900, sufficient alignment of the user with respect to the eyepiece assembly 1930, the authority of the robotic surgery system. Detecting the user's identification as a user) will enable the operation of the robotic surgery system. The support arm 1912 may be configured such that the housing is placed close to the user's face or head, and for ergonomic purposes, the housing 1910 is positioned, placed, or otherwise. It may be operable to move in a fashion. In addition to or in place of this, a strap or similar accessory device is attached to the immersive display to secure and / or align the enclosure 1910 to the user's face and / or head. You may be.

One or more eyepieces may include, for example, a binocular image that can facilitate stereoscopic or 3D display, but in other examples, the eyepiece may include a monocular image. Good. The immersive display may include a lens to provide built-in vision correction for the user such as myopia, hyperopia, astigmatism and the like. The sensor in the immersive display may provide eye tracking, user identification, etc. for the instrument control device.

In some variants, the immersive display support arm is attached to the seat back side of the seat assembly so that it approaches the user from the side of the user console to facilitate access to the user's immersive display. It may be a configuration. For example, as shown in FIGS. 2C and 2D, the proximal end of the immersive display support arm 240 may be connected to the right side of the seat back, but instead the proximal end of the display support arm 240. May be connected to the left side of the seat back (eg, approximately at the height of the headrest 224, but not required). The proximal end of the immersive display support arm 240 may be configured to adjust in the vertical and / or rotational direction and the like. Further, as shown in FIG. 2G, the immersive display arm 240 is a seat assembly (so that the user can access the seat and / or facilitate storage or transportation of the user console in a miniaturized arrangement. Alternatively, it may be configured to be folded or collapsed with respect to the side of the arm 240 (other mounting position).

In other variants, the proximal end of the immersive display support arm is fixedly connected to (or near) the centerline of the seatback to facilitate user access to the immersive display. The configuration may be such that the user is approached from the user console side. For example, as shown in FIGS. 9-11, the proximal end of the immersive display support arm may be attached to the back of the seat back (eg, by fixtures, welded joints, mechanical locks, etc.). ). As another example, the proximal end of the immersive display support arm is a prism or other that allows the immersive display support arm to be adjusted perpendicular to the seat back, outward, and / or in the direction of rotation. A joint may be used to adjustably connect to the back of the seat back. For example, FIGS. 17A, 17B and 17E show a vertically sliding interface or prismatic joint between the recessed 1750 of the seat back and other elements above the slider 1742 or the proximal end of the immersive display support arm 1740. Shows the part. This sliding interface helps to adjust the immersive display support arm vertically. 17C and 17D show a similar vertically sliding interface, except that the recess 1750 is narrower in FIGS. 17C and 17D than in FIGS. 17A, 17B and 17E.

In yet another variant, as shown in FIGS. 19B-19C, the immersive display may be connected to a seatback with an overhead assembly having one or more support arms on the support frame 1930. As shown in FIG. 19D, the support frame 1930 may be configured to approach the user from above the user's head. As shown in FIG. 19E, the support frame 1930 may swing overhead behind the headrest or other portion of the seatback, may be folded relative to the seatback (eg, FIG. 19F), or For example, for storage purposes, it may fall into a cavity in the seat back or may recede.

The immersive display support arm may be articulated so that it can be moved with multiple degrees of freedom. For example, in one variant shown in FIG. 19B, the articulated immersive display support arm may have at least 6 degrees of freedom. In this paragraph, "horizontal" is associated with being approximately orthogonal to the seatback, while "vertical" is associated with being approximately parallel to the seatback. It means that. The support arm has a proximal attachment (eg, similar to the slider 1742 shown in FIG. 17A) that is connected to the first link L1 by a first rotary joint J1 (eg, a pin-type or fork-type joint). The first rotary joint J1 may be provided and is rotatable around a vertical joint axis to provide movement in a horizontal plane. The first link L1 is connected to the second link L2 by the second rotary joint J2, and the second link L2 is connected to the third link J3 by the third rotary joint J3. The first, second and third rotary joints J1, J2 and J3 are arranged along their respective vertical rotation axes and are immersive, with no significant limitation at desired positions in the approximately horizontal plane around the headrest region. You can adjust the display.

Further placement flexibility may be provided by the third link L3, which is connected to the fourth link L4 by the fourth rotary junction J4, the fourth rotary junction J4 to move in a vertical plane on a horizontal axis. It is rotatable along. The fourth link L4 may be further connected to the fifth link L5 by a fifth rotary joint J5, and the fifth rotary joint J5 can rotate along the horizontal axis in order to move in a vertical plane. is there. Further, the fifth link L5 may be connected to the sixth link or the bracket member L6 by the sixth rotary joint J6, and the sixth rotary joint J6 moves around the vertical axis so as to move in a horizontal plane. It is rotatable. The fourth, fifth and sixth rotary joints J4, J5 and J7 are typically combined with the first, second and third rotary joints J1, J2 and J3 in the vertical height of the immersive display. Will allow adjustment. All six rotary joints will help adjust various combinations of angular position changes in three-dimensional space (eg, translation in XYZ, yawing, roll, pitch). Rotation at). The immersive display arm 1920 allows, for example, arm rotation, arm extension / retraction, arm anterior / posterior tilt, etc. as a result of multiple articulated joints with an appropriate number of degrees of freedom. It will be.

As shown in FIG. 19C, the immersive display housing 1910 may be attached to the bracket member L6 by a seventh rotary junction J7, which is pivotal adjustable in a vertical plane (7th rotary junction J7). For example, it is rotatable around a horizontal axis to allow 7 degrees of freedom for (upward or downward angulation).

Some or all of the joints (eg, 4th joint J4 and 5th joint J5) are friction brakes, active brakes, clutches and to help lock the immersive display support arm into a particular arrangement. / Or other operable locking mechanism may be provided. Locking the immersive display support arm in place allows, for example, the immersive display housing 1910 and / or the immersive display support arm 1920 to the lower side (eg, if the seat assembly is in a reclining arrangement, to the user. Can help counter the gravitational effect of defeating. In addition to or instead, some or all of the joints may be antagonized to prevent them from tipping down when not externally supported by the user.

Manipulation of posture (ie, position and orientation of the arm) may be controlled manually and / or using actuators, using other aspects of the user console described herein. Similarly, it may be controlled automatically. Some movement of the arm may be automatic in response to a trigger, eg, a user's determination in the seat assembly based on the user's login or detection of the threshold weight in the seat assembly (eg, collapse). Or stretch). Manual adjustment of the arm may include disengaging a clutch (eg, using a touch sensor, button, handle, etc.) configured to resist movement of the arm.

In other variants, the immersive display support arm may be one substantially stationary member. For example, as shown in FIGS. 25A and 25B, the display support arm 2520 may act as a cantilever arm for suspending the immersive display 2510 approximately in front of the seat assembly. In yet another variant, the display support arm may include a member that swings outward toward and away from the user in the seat assembly. For example, as shown in FIGS. 26A and 26B, the display support arm 2620 is immersive while the user is in the seat assembly but is not using the immersive display 2610 before the user sits in the seat assembly. The mold display 2610 may be swung outward in an "outside" position to keep it away from the user's face and head. When the user is ready to see through the immersive display 2610, the display support arm 2620 is "middle" to hold the immersive display 2610 close to the user's face and head, as shown in FIG. 26C. You may swing inward in the lateral direction at the "" position.

In some variants, the eyepiece and / or immersive display support arm may include one or more sensors to help avoid collisions. For example, at least one proximity sensor (eg, ultrasonic, laser, etc.) can cause potential collisions with seat assemblies (eg, seatbacks, armrests, headrests), display monitors, user faces or other body parts. It may be located on at least part of the eyepiece and / or the immersive display support arm for detection. Upon detecting a potential collision, the user console may issue a warning (eg, voice, visual signal, tactile feedback, such as by a seat assembly or user interface device) and / or the user console is immersive. The immersive display support may be automatically manipulated to stay in the "hold" position or move in the opposite direction to avoid collisions between the type display support arm and another object. .. In addition to or in place of this, one or more proximity sensors are used to suppress or slow the movement as the eyepiece and the user's face approach each other for engagement, "arriving slowly". This may provide a comfortable engagement with the user's face.

Auxiliary Display The user console may further include a second open display or an auxiliary open display. For example, the second open display 234 may be connected to the side of the seat shell 216 of the seat assembly 204 by using the support arm 238 as shown in FIGS. 2A to 2F, but in other examples, one or more. The second open display of may be connected to a seat pan, seat back, headrest, armrest, seat support, pedestal and / or display support attached to the centerline or side of these components. In another example, the second open display 1534 may be located on the user interface platform 1512, as shown in FIG. 15A. The second open display may be a touch screen device. In some variants, the display assembly may be provided with an adjustable mechanism similar to that described above, eg, vertical translation of the second display panel, lateral rotation of the second display panel. , The front side / rear side inclination of the second display panel may be provided.

The second open display 234 and the immersive display 236 may be configured to duplicate one or more displays or controls on the main display panel 230 and / or on the main display panel 230 or with each other. It may be equipped with other control devices or images that are not given. For example, the second open display may be configured to prompt the user for user identification information (for example, user ID, password, passcode, etc.). In addition to, or in lieu of, the user console is to facilitate the reception of other users' identifiers by processes such as voice recognition, facial recognition and other biometrics (eg, iris code or fingerprint). , Microphone, camera, fingerprint sensor, etc. may be provided.

An exemplary variant user console may include any combination or partial combination of the above structures. In one embodiment, as shown in FIGS. 20A and 20B, the user console 2000 comprises a pedestal 2002 having a lower section and a front wall, a seat assembly 2010, and a pedal assembly 2040 connected to the lower section of the pedestal. It may include a display 2050 that connects to the front wall of the pedestal (instead of a separate display support mount), but does not include a user interface device or an immersive display.

In another embodiment, as shown in FIGS. 21A and 21B, the user console 2100 may be similar to the user console 2000 described above with respect to FIGS. 20A and 20B, provided that the user console 2100 is a pedal. It may include a pedestal 2102 having a lower section on which the assembly 2140 is located, a rear wall, and a side wrapping wall. The user console 2100 may facilitate side participation, for example, based on the location of the enveloping wall. The display 2150 may be supported by a wrapping wall portion on the side surface of the pedestal 2102.

In another embodiment, as shown in FIGS. 22A and 22B, the user console 2200 may be similar to the user console 2100 described above with respect to FIGS. 21A and 21B, provided that the user console 2200 is a seat. A pedestal 2202 with an overhang extending over the assembly may be provided, and the display 2250 is configured to be suspended from the overhang.

In the modifications shown in FIGS. 23A and 23B, the user console 2300 is similar to the user console 2100, except that the front wall of the pedestal 2302 also has an angled or curved wing around the display 2250. It extends laterally to give. This can help reduce glare on the display 2250, for example.

As shown in FIGS. 24A and 24B, in some variants, one or more components may include the wheel 2420. The different modular components may be provided with wheels to facilitate relative movement within the different components. For example, the display support may include wheels 2420 to allow translation and / or rotation with respect to the seat assembly and / or pedestal. As another example, the seat assembly may include wheels 2420b to allow translation and / or rotation with respect to the display and / or pedestal. Similarly, as shown in FIGS. 25A and 25B, the seat assembly is 1 so that the seat assembly can adjust its position and orientation with respect to the user interface platform 2520 (eg, having a keyboard or other control device). The above wheel 2520b may be provided. As yet another example, as shown in FIGS. 27A-27B, the pedestal 2702 provides mobility (eg, to move the user console between different operating rooms, or to relocate the user console indoors). Wheels may be provided to enhance. In addition to or in lieu of this, the pedal assembly, pedestal and / or other components of the user console may include one or more wheels. The wheel may be equipped with a brake (eg, a friction brake) or other locking mechanism to prevent the movement of components or other unintended movements afterwards.

User Console Placement Specific one or more components of the user console, including seat assembly, display assembly, pedal assembly, to facilitate user console adjustments and settings for ergonomic adjustments and other adjustments. A placement control device may be provided that can detect the placement, save it, and control the motor of the adjustment mechanism to return the user console to the particular placement saved. Each placement is associated with one or more users, user characteristics, patient or patient characteristics (height, weight), surgical team, robot system placement, seating preferences and / or one type of surgery. May be good. The placement control may be separate from the robot control of the robot system and may have or have the same system with input / output interfaces, interlocks, actuators and / or sensors for its own processor, memory and motor. May be part of.

During use, the user console may be adjusted to the desired placement, including ergonomic adjustments to the seat assembly, pedal assembly and display assembly, as well as customizations to the user interface and user interface devices, if available. .. The complete arrangement or part of the arrangement may then be preserved and optionally linked to one identifier or category. The identifier may be a user identifier, a category or feature of a non-user identifier (eg, surgery type, seating arrangement, etc.) and / or a bioidentifier (eg, iris code, fingerprint, etc.). For subsequent use, or for subsequent use, for final selection or confirmation, or for narrowing down to a stored arrangement, more identifiers are entered, given, or selected simultaneously or sequentially. The placement control device then signals or controls various motors to make any mechanical adjustments to the user console and also reconfigures or sets the placement of the user interface. This is to shorten the setup time for one user, or to shorten the setup time between multiple users who use the same user console in their respective customized arrangements during one action, etc. This can be done while the user is sitting at the user console or before sitting. Further, in some variants, the user console may be ergonomically and dynamically improved by tracking the user's movements (eg, body position, eye position, eye gaze, etc.). Automatically recommend optimal placement, visibility, hardware and / or other needs of the user, eg, optimal placement to reduce fatigue or damage, in response to user movements. , Or transition to that arrangement. For example, when the placement controller detects that the user in the seat assembly begins to move forward (as if looking better at the operating table), the controller raises the seat assembly to raise the user. It may be adjusted automatically.

In addition to any customized placement, the placement controller may include some pre-placed settings, or one or more sensors that are input to the placement control or built on the user console. Includes an algorithm that sets the placement based on the user's height and / or weight as measured by (eg, weight sensors in the seat pan, pedestal and / or pedal assembly, optical height or length detection). You may be. In one example, the placement controller may instruct the user to place his foot on the pedals and sit in the seat assembly. The weight sensors in the seat pan and pedestal then have a seat height, seat angle and / to achieve a 50/50 weight distribution (eg, on the left and right sides of the user) or other weight distribution. Alternatively, the displacement of the pedal may be adjusted. In another example, the seat pan may include a weight sensor located in the center of the seat pan and one or more weight sensors located approximately around the front side of the seat pan. The seat height and / or seat angle is then adjusted to achieve the desired weight distribution between the central force and the anterior marginal force, a concentration of force that can reduce lower limb circulation. Can be reduced. In yet another example, an optical or image sensor located on the display assembly may be used to detect the height of the user's eyes and adjust the height of the display panel. The top of the display panel is at eye level, or is 0-5 cm below the detected eye height, or the eye height is such that it is located in the upper half of the display panel. The desired height may be set.

FIG. 4A shows, in some embodiments, an exemplary set of parameters that may be adjustable to place the user console. The open display may be adjustable with several degrees of freedom (“DOF”). For example, the height of the open display may be adjusted by vertical translation (“ODV”) along the display support, and the front-rear position of the open display is horizontal translation (“ODH”) with respect to the pedestal of the user console. The open display tilt (“ODT”) may be adjusted (eg, relative to the display support).

In addition to or instead, the pedal tray may be adjustable up to 3 or more DOFs. For example, the foot pedal tray tilt (“PT”) may be adjusted (eg, with respect to the user console pedestal), and the front-rear position of the foot pedal tray is a horizontal translation (“”) with respect to the user console pedestal. It may be adjusted by PH ”) and / or the height of the foot pedal tray may be adjusted by vertical translation (not shown) such as an adjustable riser connected to the pedestal of the user console.

The seat assembly may also be adjustable with various DOFs. For example, the rotational position of the chair may be adjusted by the swivel of the chair around the vertical axis (“CS”) (eg, by adjusting the swivel position of the seat support column described herein). , The height of the chair (“CV”) may be adjusted by translation along the seat support columnar, and the reclining of the chair against the seat pan (typically indicated as chair reclining (“CR”)). It may be adjusted (eg, as further described herein) and the seat pan tilt (“CBT”) may be adjusted (eg, as further described herein below). .. In addition, the headrest height (“HV”) and / or headrest tilt (“HT”) may be adjusted (eg, as further described herein). In addition, armrest height (“AV”) and other armrest arrangements (eg, lateral or planar movement, as further described herein) may be adjusted.

In addition, the height of the pedestal relative to the ground surface (“BV”) may be adjusted, for example, as a result of wheel placement for transport and other suitable methods (as further described herein below). Good. Adjustments to these and other parameters are described in more detail elsewhere herein.

4B-4D show in more detail how the seat assembly can be placed in one of a plurality of seat assembly arrangements. The arrangement may be based on a set of adjustable parameters (eg, at least some or all of the parameters A to F as shown in FIGS. 4B-4D). For example, the adjustable parameter A is the angle of the user's lower limbs with respect to the user's thigh when the user is in the seat assembly as a result of the relative orientation of the seat pan and pedal assembly. The adjustable parameter B is the angle of the backrest with respect to the horizontal. The adjustable parameter C is the angle of the pedal assembly with respect to the horizontal (eg, seat assembly pedestal or ground surface). The adjustable parameter D is the angle of the armrest with respect to the horizontal. The adjustable angle E is the angle of the headrest with respect to the backrest. The adjustable parameter F is the position of the seat pan or the lower edge of the backrest with respect to the seat pan. In some variants, the seat assembly is at least any one, preferably two, of a seated arrangement (eg, FIG. 4B), a reclining arrangement (eg, FIG. 4C) and an elevated arrangement (eg, FIG. 4D). , Or may be arranged in three.

In the exemplary seating arrangement shown in FIG. 2E, the seat pan 218 is oriented approximately horizontally and the vertical height of the seat assembly 204 is such that the user's heel is in contact with the pedestal 202 and the lower limbs are in the anterior position. Yes, the heel is set to contact the pedestal and the heel is in the normal slightly planted position. The pedal assembly 212 is arranged relative to the pedestal 202 such that the front portion, as well as the heel of the user's foot, is above the pedal assembly 212 and the anterior angle 252 is in the range of about 25 ° to 45 °. .. In other variants, the pedal assembly 212 may include a heel area or heel rest and may be located in the anterior portion of the foot and under the heel. The seat back 220 is vertically or slightly angled rearward, the display assembly 208 is set so that the upper edge of the display frame 232 is approximately eye level, and the display mount 228 is the display frame. The 232 display panels are angled so that they are orthogonal to the user's field of view, slightly below the horizontal eye level.

An exemplary ascending arrangement is shown in FIG. 2F. The elevated arrangement can be useful, for example, when the user wants to see the operating room or treatment table directly. In addition, the ascending arrangement would be suitable, for example, for sterile use, easy and quick entry and / or exit by the user from the user console (eg, the user "enters" from the seat assembly in the ascending position". Or "go out"). In this arrangement, the seat pan 218 is tilted forward, its front edges are angled downwards, and it also reduces the area of the seat pan available to support the user's thighs ( That is, when measuring in the front-rear direction, the depth of the front seat pan with respect to the seat back is reduced), so that the user's thigh is almost or is compared with the seating arrangement of FIG. 2E. Not supported by the seat pan 218 at all, the user's legs are translated backwards or retracted so that they can be oriented more vertically. In addition to or in lieu of this, the area of the seat support may be reduced in other ways, eg, by translating the seat back forward, at least partially behind the seat pan. It may be reduced by folding and / or rolling up (eg, in a modified form in which the sheet pan is split or flexible). It should be noted that in addition to or instead of this, such adjustments to the area of the seat support may be used to adapt and customize to different user sizes. .. To further adapt this relatively more vertical orientation, the pedal assembly 218 may be moved further rearward with respect to the pedestal 202 compared to the seating arrangement, and the front angle of the pedal assembly 218 is flat. Or at least less than the anterior angle in the seating arrangement. The seat back 220 may be oriented in the same or relatively further forward tilted orientation as compared to the seating arrangement. The display frame 232 may be raised relative to the seating arrangement. Also, in the particular rear-angled seat support 214 of the user console 200, when the seat shell 216 is raised, the user's position also moves to the rear, and the display assembly 208 is the user's eyes. It may be moved backwards in an ascending arrangement to maintain or at least partially correct the change in distance between the and the display panel. Wheels 246 or low friction slide structures may be provided to facilitate movement of the display assembly 208. However, in other variants, the display assembly 208 may be attached to the pedestal 202 and the wheels or sliders may not be exposed or may be invisible.

5A-5C are schematically using a user console 500 comprising a display panel 502, a pedal assembly 504, a seat pan 506, an armrest 508, a seatback 510, a headrest 512, and an immersive display 514. Further details of the exemplary seating and ascending arrangements and the exemplary reclining arrangements are shown as shown in.

In a seating arrangement as shown in FIG. 5A, the seat pan 506 is horizontal with the user's heel approximately in contact with the pedestal and the seat pan and the user's thigh approximately aligned and approximately −5 ° to the horizontal plane. The height may be at an angle of ~ + 5 °, about −5 ° to about + 10 °, or about -10 ° to about + 15 °. The pedal assembly 504 is located in an anterior-posterior position where the anterior portion of the user's foot is in contact with the pedal and is angled approximately perpendicular to the user's lower limbs. The amount of the seat pan 506 projecting forward from the surface of the seat back 510 may range from about 75% to 100%, 80 to 100%, or 90% to 100% of the maximum front arrangement of the seat pan 506. .. Depending on the user, the seat pan 506 may be customized to an extended position in a seated arrangement so as to support the user's gluteal sulcus from about 25% to 100% of the distal thigh. In other examples, it may range from about 50% to about 95% or from about 70% to about 100%. The seat back 220 may be configured with a front angle in the range of about 80 ° to 110 °, about 90 ° to about 105 °, about 90 ° to about 100 °, or about 100 ° to about 110 °. The pedal angle in the seated arrangement may be, for example, in the range of about 15-45 °, about 20-40 °, or about 25-about 35 ° from the front horizontal plane 516.

In the ascending arrangement as shown in FIG. 5B, the seat pan 506 is raised relative to its position in the seating arrangement, eg, tilted forward to at least −5 °, −7 °, −10 ° or −15 °. It may be, or it may be angled on the front side. The seat pan 506 also has about 10% to 75%, about 25% to about 60%, about 40% to 55% or at least 10 cm, 20 cm or 30 cm of the seat pan 506 behind the surface of the seat back 510. In addition, it may be retracted with respect to the seat back 510. The seat back 510 may be configured with a front angle in the range of about 80 ° to 110 °, about 90 ° to about 105 °, about 90 ° to about 100 °, or about 100 ° to about 110 °. The pedal angle 516 in the seated arrangement may be in the range of about 0-30 °, about 0-15 °, or about 0-about 7 ° from the front horizontal plane. The height of the seat pan 506 may be set so that the user's heel is in contact with the pedestal, but in other variants the user's heel is configured to be above the pedestal and not in contact with the pedestal. You may.

The horizontal distance of the display panel or display assembly in a seated or elevated position ranges from about 50 cm to 150 cm, 50 cm to about 125 cm, or about 50 to about 100 cm. In FIGS. 5A and 5B, the seat support (not shown) is angled rearward, similar to the exemplary user console 200 of FIGS. 2A-2C, as shown in FIG. 5B. As the seat height increases, the seat pan 506 and seat back 510 also move rearward, and when the seat assembly 518 is lowered, they move forward. In this example, the display assembly 208 may be moved to the rear or front by an equal distance of horizontal movement of the seat assembly 518, but in other examples the display panel 502 may not be moved or may be moved. It may be moved by an amount different from the horizontal movement of the seat assembly 516. The height of the display panel or display shell in the seated or raised position is such that the upper edge of the display panel or display shell is approximately +10 to -20 cm, +10 cm to the user's optical axis, depending on the size of the display. Relative heights in the range of −10 cm, about +5 cm to about -5 cm, and about 0 cm to about -5 cm may be used. In other variants, the height of the display is about 125% -50%, about 125%, with respect to the bottom edge (0%) of the display and the top edge (100%) of the display with the user's optical axis. It may be adjusted to be set to align at ~ about 75%, about 110% ~ about 90%, about 100% ~ about 90%. The tilt angle of the display panel or display shell may be adjusted in a linear or non-linear manner with respect to the tilt angle of the seat back 510. In some examples, the display tilt angle may be about 0 ° to about 15 ° smaller in relative range than the angle of the seat back 220. In another example, the display tilt angle from the 90 ° axis, for example, about 50% to about 100% of the angle change of the seatback 510 is offset by the percentage of displacement of the seatback tilt angle from the 105 ° axis. May be good.

For example, in the reclining arrangement shown in FIG. 5C, the seat pan 506 is oriented backward along the display panel 502. The degree of backward curvature may be, for example, at least + 5 °, + 7 °, + 10 °, + 15 °, + 20 °, + 30 °, or + 45 °, while the monitor may be, for example, + 5 °, + 7 °, + 10 °. , + 15 ° or + 20 ° may be tilted downward. The seat back 510 may be configured with a front angle in the range of about 100 ° to 130 °, about 110 ° to about 125 °, about 110 ° to about 120 °, or about 120 ° to about 130 °. The pedal angle 516 in the reclining arrangement may be in the range of about 10-40 °, about 10-25 °, or about 10-10 ° from the front horizontal plane. In another example, the pedal angle 516 does not have to change from the seating arrangement. In some variants, one or more changes in seating arrangement may also include translational movements due to spatial or adjustment limitations of the user console 500. For example, in a reclining arrangement, the seat control device may combine translation and pivotal movement of the display 502, pedal assembly 504, seat pan 506 and seat back 510 to perform the rearward curvature of the seat pan 506. It may be configured. In FIG. 5C, the seat assembly 518 may move down, and then the front lip 520 of the seat pan 506 is pivotally raised to achieve the final posterior curvature of the seat pan 506. Pedal assembly 504 may move forward and rise upwards. The display 502 may be moved rearward and angled downwards for the user's rearward movement, such as the rearward curvature of the seat pan 506 and the rearward angle of the seat back 510.

In some variants, the adjustment between the seating arrangement and the reclining arrangement maintains the relative position and orientation of the display 502, pedal assembly 503, seat pan 506 and seat back 510, within a given space or With respect to gravity, a combination of translation and angular changes within the mechanical adjustment range of the user console 500 may be utilized to achieve a net rotation of the relative arrangement of these components. The virtual axis of rotation of the relative arrangement may be fixed over the entire reclining range or may be shifted over different subranges of reclining. For example, part of the reclining range may include a virtual axis of rotation approximately located at the intersection of the seat pan 506 and seat back 510, while another part of the reclining range may be in the pedal assembly or its. It may have a virtual rotation axis that is located around and / or on the pedestal of the display assembly. In some variants, as the degree of reclining increases, the virtual or effective axis of rotation of the seating component is from the posterior position to the anterior position as a result of restrictions on the adjustment of the individual components. It may shift continuously to. To control the degree of reclining, the user console 200 may have a single reclining control device in which the translational and angular movements of the display 502, pedal assembly 503, seat pan 506 and seat back 510 work together. And achieve the desired reclining level while maintaining the desired relative position.

In another example of the user console shown in FIGS. 27A-27C, the user console comprises a curved pedestal 2702 on which the display assembly 2750 and the seat assembly 2710 are mounted, for example, in orbit. The display assembly 2750 and / or the seat assembly 2710 is the relative space between the display assembly 2750 and the seat assembly 2710 and a foot-operated control device, eg, a pedal assembly (not shown) connected to a curved pedestal 2750. The reclining angle can be changed by translating along the curved pedestal 2702 while maintaining or changing the orientation at the same time.

6 and 7A show exemplary adjustable settings or parameters for user console placement. As shown in FIG. 6, the maximum adjustable height 530 from the pedestal 532 to the centerline or apparent mounting position 534 of the display panel or display shell ranges from 150 cm to 160 cm, 155 cm to 180 cm, or 145 cm to 200 cm. It may be. In FIG. 7A, the minimum adjustable height 536 from the pedestal 532 to the apparent mounting position 534 may range from about 90 cm to 110 cm, about 95 cm to 105 cm, about 80 cm to 110 cm, or about 70 cm to about 100 cm. Good.

The horizontal separation distance 538 between the display mounting position 534 and the vertical axis 540 that intersects the bottom of the seat back is, for example, in the range of minimum distances of about 50 cm to 60 cm, about 45 cm to 65 cm, and about 40 cm to 60 cm. The maximum distance may be in the range of about 100 cm to about 110 cm, about 90 cm to about 120 cm, and about 100 cm to about 150 cm. As shown in FIG. 6, the maximum upward tilt angle 542 of the display from the vertical axis may be in the range of about 10 ° to 20 °, about 10 ° to about 30 °, or about 15 ° to about 45 °. Good. As shown in FIG. 7A, the minimum downward tilt angle 544 from the display 502 may be in the range of about 10 ° to 20 °, about 10 to about 30 °, or about 15 ° to about 45 °. The total range of adjustable tilts for the display may range from about 20 ° to 40 °, about 20 ° to about 60 °, or from about 30 ° to about 90 °.

The maximum rearward tilt 546 of the pedal assembly 504 from the pedestal 532 may be in the range of about 20 ° to 40 °, about 25 ° to 45 °, or about 30 ° to 50 °. The minimum backward tilt may be 0 ° or, as shown in FIG. 7A, in a horizontal orientation parallel to the pedestal 532, but in other variants the minimum backward tilt is zero. The angle may not be less than about 7 °, less than about 5 °, or less than about 3 °. In other variants, the pedestal may include cavities or recesses, lowering the pedal assembly below the pedestal surface to about -5 °, about -10 °, or about -15 ° below the pedestal. It can be tilted forward within the range obtained.

To accommodate different seating arrangements, the pedal assembly 504 may be configured to be movably arranged along the front-rear movement axis. The minimum horizontal separation distance 548 with respect to the trailing edge of the pedal assembly 504 is in the range of about 45 cm to 50 cm, about 40 cm to 55 cm, or about 35 cm to about 55 cm with respect to the vertical axis 540 that intersects the front side of the seat back 510. May be good. The maximum horizontal separation distance 550 between the vertical axis 540 and the pedal assembly 504 may range from about 90 cm to 95 cm, about 85 cm to 110 cm, or about 80 cm to 120 cm.

The seat pan 506 may be configured to have a minimum seat height of 552 of about 25 cm to 35 cm, about 30 cm to about 50 cm, or about 20 cm to 60 cm when measured from the pedestal 532 to the upper center of the seat pan 506. Good. The maximum seat height 554 may range from about 60 cm to 80 cm, about 65 cm to 100 cm, or about 50 cm to about 120 cm. The maximum forward tilt angle 556 from the horizontal plane may be in the range of about 10 ° to 20 °, about 15 ° to 35 °, or about 15 ° to 30 °, as shown in FIG. A typical backward curvature angle in a reclining arrangement may be about 5 ° to 10 °, as shown in FIG. 7A, but a maximum backward curvature angle 558 is about 10 ° to 20 °, about 15 °. It may be in the range of ~ 35 °, or about 15 ° to 30 °. The total range of adjustment of the seat pan 506 angle may be in the range of about 20 ° to 40 °, about 30 ° to about 50 °, and about 25 ° to about 45 °.

The seat back 510 may typically be in a rearwardly curved position about −10 ° from the vertical axis 540, as shown in FIG. 6, but the maximum front angle 560 from the vertical axis 540 is 0. It may be ° or the maximum anterior angle may consist of at least + 5 °, + 7 ° or + 10 °. As shown in FIG. 7A, the maximum rearward curvature angle 562 from the vertical axis 540 may be in the range of about 20 ° to 40 °, about 30 ° to 60 °, or about 25 to 50 °.

In the seated and reclining arrangements, the seat pan 506 and the seat back 510 may be in a relative relationship, with the rear portion of the seat pan 506 and the bottom portion of the seat back 510 as shown in FIG. 7A. They are in contact or in close proximity. In the ascending arrangement shown in FIG. 6, the rear portion of the seat pan 506 moves rearward with respect to the bottom portion of the seat pan 510 (or the bottom portion of the seat back 510 is with respect to the rear portion or the upper surface of the seat pan 506. Move to the front side). The maximum rearward movement 564 of the sheet pan 510 may range from about 10 cm to 20 cm, about 15 cm to 30 cm, about 20 cm to 30 cm, or about 15 cm to about 40 cm, or more.

Depending on the arrangement of the seat assembly, the seat pan 506 and the seat back 510 may be configured to rotate laterally. In some examples, this rotation may facilitate the user to join and exit the seat assembly. As shown in FIG. 7B, the lateral maximum rotation 566, 568 is about 45 ° to 75 °, about 75 ° to 120 °, about 90 ° to about 140 when measured from the front-rear axis 570. °, or may be in the range of about 100 ° to about 150 °. Having many user consoles, the maximum lateral rotation 566, 568 is symmetrical with respect to each side, but in other examples includes, but is not limited to, the asymmetric user console described below. , The attachment may be asymmetric, small or not available on the side with the asymmetric support.

Returning to FIGS. 6 and 7A, the headrest 570 of the seat assembly, if present, typically connects to the seat back 510 in either a fixed or adjustable arrangement, but in other examples. , It may be movable independently of the seat back. When connected to the seat back 510 as in FIGS. 6 and 7A, the headrest 570 may move in combination with the movement of the seat back 510, but is configured to move more relative to the seat back 510. May be good. For example, the headrests of FIGS. 6 and 7A are configured to extend vertically from the seat back 510, the minimum distance is 0, and the maximum extension distance 572 is about 10 cm to 40 cm, about 15 cm to 50 cm, about. 20 cm to about 60 cm, or longer. The headrest 570 may be configured to have a maximum rearward tilt angle of 0 with respect to the longitudinal axis of the seatback 510, but in some variants the maximum rearward tilt angle is about 0-5 °. , About 0-10 °, about 0-15 °, or may be configured to be in the range of about 0-30 °. The front maximum inclination angle 574 may be, for example, in the range of about 0 to 30 °, about 10 ° to 30 °, and about 15 ° to about 45 °.

The armrest 508 of the seat assembly may be connected to the seat pan 506 or seat back 510 and moved while adjusting for these structures, but may be moved with respect to these structures, but with different structures of the user console 500, such as the seat shell (not shown). ) Or the pedestal 532, or may be connected to the display mounting portion. In the example, when the armrest 508 moves with the seat pan 506 or the seat shell, the armrest 508 has a minimum vertical distance of about 15 cm to 25 cm, about 20 cm to 25 cm, about 20 cm to 25 cm from the horizontal plane passing through the upper center of the seat pan 506. It may have a vertically adjustable range of 15-50 cm, or about 20 cm-60 cm, or longer. The maximum vertical distance 578 may be, for example, in the range of about 30 cm to 50 cm, about 40 cm to about 70 cm, and about 35 cm to about 80 cm. The armrest 508 has a minimum horizontal distance of about 10 cm to 30 cm, about 15 cm to 25 cm, about 15 to 50 cm, or about 20 cm to 60 cm, or longer, in the horizontal direction, with a minimum horizontal distance of 580 from the front of the seat back 510 to the horizontal center of the armrest 508. It may have an adjustable range. The maximum horizontal distance 582 may be, for example, in the range of about 30 cm to 50 cm, about 40 cm to about 70 cm, and about 35 cm to about 80 cm. In a further example, the armrest 508 may be configured to rotate or tilt in the anterior-posterior direction, with a maximum anterior or anterior angle of 584 of about 10 ° to 20 °, about 15 ° to 30 °, Or about 15 ° to 45 °. The maximum posterior or posterior angle may be 0 and may range from about 0-10 °, about 0-15 °, about 5 ° to 30 °, or about 10 ° to about 45 °.

Returning to FIG. 7B again, the user console 500 has a width of about 90 cm to 100 cm, about 80 cm to about 120 cm, or about 90 cm to about 150 cm, or a larger range. The length 588 may range from about 150 cm to 200 cm, about 160 cm to about 250 cm, or about 160 cm to about 180 cm. The size of the user console can facilitate positioning of the user console 500 in the operating room or treatment room, or through the door of such a room or room.

The above-mentioned settings for the seated arrangement, the reclining arrangement, and the ascending arrangement of the user console can be further described with reference to FIGS. 9 to 11. The seat assembly of the user console 900 in FIGS. 9A-9E is in a seated arrangement. As the seat assembly moves into the ascending position, the seat shell 916 moves upwards and backwards to the rear-angled seat support, as shown in FIGS. 11A-11E. If modifications for these adjustments are desired, the display monitor support 906 may be moved rearward with respect to the pedestal, for example, and the display monitor 950 may be moved upward with respect to the display support 906. Good. The pedal assembly 904 may also be moved backwards, tilted downwards for a flatter / horizontal orientation, or better ergonomically placed for a vertical or ascending position near the user. Good. The seat pan is retracted with respect to the seat shell and seat back and may be further pivoted to a forward leaning orientation. The headrest cushion may move upwards to the seat back and the armrests move upwards with respect to the seat assembly. The immersive display support arm may be moved upward with respect to the seat assembly, for example, by manipulating along the immersive display support arm or by manually providing articulating adjustment coupling.

10A-10E show the user console 900 in a reclining arrangement. Here, the seat shell 916 moves the seat indicator 914 forward and downward at an angle to the rear, and a considerable part of the seat support is above the opening of the seat shell 916. The seat pan is in a rearwardly bent position and the seat back is tilted backward with the seat back so that the seat support is substantially in the cavity of the seat back. The headrest cushion may move forward with respect to the seat back cushion. The armrests are tilted backwards along with the seat back. Due to the rearward curvature of the seat pan, the user may sit deeper and lower with respect to the seat back in the seat shell as compared to the seating arrangement of the seat assembly. In some variants, the support arm of the immersive display 960 may typically maintain an orientation parallel to the pedestal of the user console (eg, horizontal to the ground if the pedestal is horizontal). And parallel). In some variants, the immersive display 960 may be tilted downwards, eg, for a user viewing the immersive display 960, to maintain orthogonal optical visual field axes. Instead, in some variants, the proximal portion of the support arm of the immersive display 960 (eg, the portion that connects to the seat back) is further tilted rearward, similar to the armrest. You may move to a lower position. In this user console, the display 940 may or may not be arranged to tilt downward so as to maintain a viewing plane that is further orthogonal to the user's optical axis. The display support may be moved further rearward to maintain the change in distance along the user's optical axis resulting from the reclining angle of the seat back, or to partially compensate in other ways. In another example, the seat shell under the seat support, for example, if the anterior movement of the seat shell under the seat support is sufficient to maintain the desired viewing distance. It is not moved to the front side of the seat and to the rear side of the seat back. When moving the display support rearward, the display support may be configured to have a central opening between the outer indicator legs to accommodate the pedal assembly. The pedal assembly may be tilted backwards to accommodate the user's reclining angle in the seat assembly.

Safety Mechanism The user console may also be provided with a "lockout" mechanism, which indicates whether the user is in the user console and is ready to perform a surgical procedure through the user console. It can be determined automatically. In response to this determination, the user console can automatically enable or disable the control device. The user console may include one or more sensors configured to detect the presence or absence of the user in the seat assembly. For example, such sensors are placed in and / or around the seat assembly (eg, in a seat pan, seat back, headrest, etc.) and are configured to measure weight in the seat assembly. The pressure measurement value exceeding the threshold value indicates the presence of the user in the user console. As another example, the IR sensor may be configured to measure the heat applied to the seat assembly, and temperature measurements above the threshold indicate the presence of the user in the user console. As another example, the optical sensor may be configured to detect a break or break in a ray traveling through the user console, where the break in the ray indicates the presence of the user in the user console. Another example of such a sensor is an optical sensor (eg, a display monitor,) configured to apply an eye tracking algorithm to determine the presence of a user ready to operate a control device in the user console. (Auxiliary display, immersive display, etc.). In addition, in some variants, the presence of the user in the sheet assembly receives voice commands (eg, by an authorized user), performs voice or face recognition, authorizes user login identification, and so on. It may be determined by receiving.

The operation of a particular user in the user console may also indicate the presence of the user. For example, as shown in FIGS. 26A-26C, the user console may have an arrangement that enters from the side, allowing the user to approach the outward facing swivel seat assembly (FIG. 26A) and enter the user console. right. The user may then swivel the seat assembly in a central orientation facing the front of the user console (FIG. 26B). In this example, the seat assembly may be provided with a switch or other sensor configured to detect when the seat assembly has rotated and transitioned to a central orientation, and when detected, the surgical instrument. Controls for remote operation will be available. Other intentional user actions (eg, grabbing the user interface device, engaging the pedal assembly, pressing the start button, etc.) will also trigger the availability of the controller. Conversely, the opposite task (turning the seat assembly outwards, getting off the user interface device, etc.) can trigger the unavailability of the controller.

The user console, in addition to or instead of this, is a user in the seat assembly to check, for example, whether the user operating the surgical instrument has adequately rested and / or is not drunk. It may include one or more sensors configured to detect the qualifications of. For example, using the optical sensors for eye tracking described above, predicting whether a user is sleep deprived or tired (eg, based on eye movements, blinking speed, etc.) Good. As another example, pressure sensors such as those described above may be used to detect sudden movements or rapid changes in weight distribution in the seat assembly, which is a medical urgency such as a user's seizure. Will show. In addition, a chemical sensor (eg, a breatherizer) may be included to check for alcohol consumption, such as based on traces of ethanol. These types of events may, for example, trigger at least audio / visual alarms or other warnings, and / or disabling of controls to protect patients undergoing surgical procedures.

The above description used a specific nomenclature for the sake of explanation and to give a good understanding of the present invention. However, it will be apparent to those skilled in the art that no specific details are required to carry out the present invention. Therefore, the above description of specific embodiments of the present invention is provided for illustration and explanation. They are neither exclusive nor intended to limit the invention to the exact forms disclosed. Obviously, many modifications and variants are possible in view of the above teachings. Embodiments have been selected and described in order to best illustrate the principles of the invention and its practical application, and therefore those skilled in the art will appreciate the invention and various embodiments with various modifications. It can be best used as a suitable one for a specific application. The following claims and their equivalents are intended to define the scope of the invention.

Claims (29)

A user console for controlling remote robotic surgical instruments
An adjustable human with a seat pan, the seat assembly can be placed between the seated and raised positions, and the seat pan has a higher forward tilted position in the raised position than in the seated position. With ergonomic seat assembly
A display configured to receive real-time surgical information,
Equipped with one or more control devices for remote control of robot equipment,
A user console in which the display or the one or more control devices has multiple positions and automatically repositions according to a seating profile associated with at least one user. The user console of claim 1, wherein the display or one or more control devices are in a higher position when the seat assembly is in the elevated position than when the seat assembly is in the seated position. The user console of claim 1, wherein the seat assembly further comprises a seat back having a plurality of angular positions with respect to the seat pan. 3. The third aspect of the present invention, wherein when the seat assembly is in the raised position, the rear end of the seat pan is behind the lower end of the seat back than when the seat assembly is in the seated position. User console. The user console according to claim 4, further comprising a headrest connected to the seat back. The user console of claim 1, wherein the seat assembly can be further arranged in a reclining arrangement. The user console of claim 1, wherein the display or one or more control devices automatically reposition according to any one of a plurality of seating profiles associated with the plurality of users. The user console according to claim 1, wherein the one or more control devices include a user interface device that can be held and operated by a hand. The user console according to claim 8, further comprising a docking station configured to detachably hold the hand-held and operable user interface device. The user console according to claim 1, wherein the one or more control devices include a control device operated by a foot. The user console according to claim 10, wherein the one or more control devices include a foot pedal assembly. 11. The user console of claim 11, wherein the foot pedal assembly is configured to tilt rearward and adjustable. The user console according to claim 10, further comprising a pedestal, wherein the pedal assembly and the seat assembly are attached to the pedestal. 13. The user console of claim 13, wherein the pedal assembly is configured to translate along the pedestal. The user console of claim 1, further comprising at least one armrest that connects to the seat assembly. 15. The user console of claim 15, wherein the armrests have a plurality of positions and automatically reposition according to the seating profile. 15. The user console of claim 15, wherein the armrests are located further above the seat pan when the seat assembly is in the raised position than when the seat assembly is in the seated position. The user console according to claim 1, further comprising an operation panel for receiving user information. The user console according to claim 1, wherein the display includes an open display. The user console according to claim 1, wherein the display includes an immersive display. The user console of claim 1, wherein the display or one or more control devices automatically reposition according to the type of surgical procedure. The user console according to claim 1, wherein the position of the display or one or more control devices can be manually adjusted. The user console according to claim 1, further comprising a console control device configured to detect the presence or absence of a user in the user console. 23. The user console of claim 23, wherein the console control device detects the presence or absence of a user based on an eye tracking algorithm. 23. The user console of claim 23, wherein the console control device detects the presence or absence of a user based on at least one sensor in the user console. 25. The user console of claim 25, wherein the console control device detects the presence or absence of a user based on at least one pressure sensor in the user console. 23. The user console according to claim 23, wherein the one or more control devices become inoperable in response to a console control device that detects the absence of the user. The user console of claim 1, further comprising a wheel that connects to the seat assembly. The user console according to claim 1, wherein at least one of the seat assembly and one or more control devices provides tactile feedback to the user in the user console.

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